Features

Simple and powerful tool for Clover simulation with workspaces and tasks.

Key features:

• Simple and fast way to start a simulator
• Workspaces concept that allows you to easily manage and share your projects
• Powerful tasks framework with ability to generate worlds and automatically check user solutions
• User code for clover doesn't have access to gazebo and can't cheat

Installation

Dependencies

Currently installation is supported only on x86 systems

For windows users: you can install cloversim in WSL 2, to run gazebo gui client WSLg is required.

In case you can't use linux or WSL you can install cloversim in Virtual Machine, don't forget to enable 3d acceleration and allocate enough resources

Dependencies:

• runc
• xauth
• iproute2
• iptables
• OpenGL drivers
• virglrenderer
• tar

Install dependency on Ubuntu:

sudo apt update && sudo apt install runc libvirglrenderer1 iptables mesa-utils procps xauth tar

Installation process

1. Download and unpack archive from cloversim releases
2. Download base.sqsh and place it in same folder as contents of archive of step 1
3. Done!!! You can now run simulator

Option 1: Use clover_sim with WebUI

1. Go to cloversim directory
2. Launch cloversim webnode

   sudo ./cloversim node

3. Open localhost:7777 in browser
4. Enjoy the cloversim

We also have video demonstration/tutorial: link

Option 2: Use clover_sim with CLI

1. Go to cloversim directory
2. Create workspace

   sudo ./cloversim workspace create test

3. Launch simulator container
   • Simple start:

   sudo  ./cloversim launch test

   • Start with some task:

   sudo ./cloversim launch --task example_task test

You can connect to your simulated clover drone using ssh [email protected] password: clover

4. Enjoy simulator

For more information check sudo ../cloversim help