MaCI simple Tutorial page

To have all the needed libraries check that you have installed all the libraries found here

To have the source tree, check instructions here

After downloading, extract the downloaded archive file (.tar.bz2) with the following command:

tar -jvxf MaCI+Apps_vX.X.tar.bz2


To have GIMnet running, you need at least one GIMnet Access Point (GIMnetAP) running. To compile it go to 'GIMnetAP' and compile it

cd GIMnetAP

To run the access point in TCP port 40002 it type

./start_session master -p 40002

To have more complex GIMnet setups, go to GIMnetAP tutorial page.

Now you have the network available. Then you can provide some services and subscribe to them


To provide some services, as an example we use a simulator called FSRSim. Go to the FSRSim directory and compile it

cd FSRSim

To run the simulator execute the following command. 'FSRSim' is the executable, maps/testmap_J2B2.xml is the map file to be use. The walls and the robots are described in the file. '-u localhost' tells the hostname of the GIMnetAP where to connect and '-p 40002' the port of the GIMnetAP

./FSRSim maps/testmap_J2B2.xml -u localhost -p 40002

A window should open with the simulator view. You can move in the simulator with arrow-,page up-, page down-, home-, end-keys. The simulator world should have a small maze with one robot.

GIMnet browser

Gimbo is used for see the state of the network and to launch different GUIs for specific service(s). Go to Gimbo folder and compile

cd Gimbo

To have all the GUI components working, there is a script called make_in_all in components directory. Calling it will compile all the GUI components, or you can also compile them one by one by going into their directory and call make.

cd components

Go back to the Gimbo folder and run Gimbo

cd ..

Connect to hostname 'localhost' and port 40002

In the MaCI-tab you see two different MaCI-group FSRSim and FSRSim.FSRSim_J2B2. The FSRSim is the upper group and FSRSim_J2B2 is in it. Usually the group describe the machine/fleet/etc. Press '+' to get the groups open to see what they contain. The FSRSim contains an instance of MaCI_Map, which is a map of the environment provided throug MaCI_Map-interface. The FSRSim.FSRSim_J2B2 contains all the services provided by the robot. This simulated robot provides MaCI_Energy, for energy informatio such as battery level, MaCI_Image, Image-feed from the camera, MaCI_JointGroupCtrl, for controlling the PTU of the robot, MaCI_Position, for providing position information, MaCI_Ranging, for providing Ranging type of information from bumpers and laserscanner and finally MaCI_SpeedCtrl to control the robot. More information about MaCI and MaCI

To be able to visualise the data from the robot and to control it, MuRo(Multi robot Operator) is a GUI for it. To launch it, select Groups FSRSim and FSRSim.FSRSim_J2B2 from the service list, MuRo from the components-list and press load

A window like below should open. The blue lines are the linemap data coming from the MaCI_Map-interface. The circle is an icon for the robot and is plotted to the position coming from MaCI_Position-interfaces. The small red dots are ranging-information coming from the laserscanner throug MaCI_Ranging-interface. MaCI_Energy-interface is visualised as a battery icon under the robot.

To control the robot click the robot icon with right button of the mouse and select 'manual drive'. (You can also select the robot in the upper left list, by expanding FSRSim and selecting 'FSRSim_J2B2' and selecting manual drive from Unit->Manual Drive in the application menu). Now You can control the robot with arrow keys.