Simspark¶
Running Simspark¶
Always add the --sync option when starting the naoth-simspark binary.
./dist/Native/naoth-simspark --sync
Otherwise, Simspark and the virtual robot will freeze when it is added to the virtual field.
Workarounds¶
Compared to newer Ubuntu systems, the AppImage
release embeds an
outdated C++ standard library and will crash on start. You can enforce to load
the system standard library by creating a shell script that runs Simspark with
the LD_PRELOAD environment variable.
#!/bin/bash
LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libstdc++.so.6 /<REPLACE_WITH_PATH_TO_APPIMAGE>/Linux.Simspark_v0.7.2-naoth-6-gl.AppImage $@
Create a Simspark-Appimage¶
AppImage is a container holding all the neccessary binaries and libraries for starting a specifiic application: https://appimage.org/
Useful example AppImage-Howto: https://www.booleanworld.com/creating-linux-apps-run-anywhere-appimage/
To create an AppImage for Simspark i've basically used the following description for creating an AppImage:
https://github.com/AppImage/AppImageKit/wiki/Creating-AppImages#6-manually-create-an-appdir
Variant # 1¶
- installed all necessary libraries and requrirements for simspark
- used the script for compiling an appimage: simspark.sh
Variant # 2¶
To get a "clean" environment for "installing" (compiling) the Simspark binary i used a chroot environment and pulled all necessary files from there.
For the chroot environment i used this script:
https://github.com/boolean-world/appimage-resources/blob/master/tempenv.sh
Just executing to set up the chroot environment:
tempenv.sh setup
tempenv.sh start
Afterwards (in the same terminal) install all needed libraries for Simspark to compile and compile&install Simspark manually.
The chroot environment can be closed with exit.
Now there should be many files in the created "tempenv". I copied all neccessary files (binaries & libraries) to a separate folder in order to create the AppImage as described in the AppImage wiki:
https://github.com/AppImage/AppImageKit/wiki/Creating-AppImages#6-manually-create-an-appdir
After some testing and finetuning i've got a small and working AppImage-Simspark binary.
To quickly reprocduce the last step (collecting the neccessary binaries&libraries and bundle it to an AppImage) i've created a shell-script, which copies all needed files from the tempenv directory and some libraries from the running system and creates the AppImage. The appimage-tool has to be there too!
sudo simspark_appimage_v0.7.0m.sh ./tempenv