# diablo-sim-env

**Repository Path**: ddtrobot/diablo-sim-env

## Basic Information

- **Project Name**: diablo-sim-env
- **Description**: DIABLO基于Webots的基本仿真环境，由rmecboy和agentyhj1提供
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2026-06-16
- **Last Updated**: 2026-06-16

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

<p align="center"><strong>DIABIO-SIM-ENV</strong></p>
<p align="center"><a href="https://github.com/Direcrt-Drive-Technology/diablo-sdk-v1/blob/master/LICENSE"><img alt="License" src="https://img.shields.io/badge/License-LGPL%202.1-orange"/></a>
<img alt="language" src="https://img.shields.io/badge/language-c++-red"/>
<img alt="platform" src="https://img.shields.io/badge/platform-Docker-2496ED?style=flat-square&logo=docker&logoColor=FFFFFF"/>
</p>




#### The basic webots simulation environment for DIABLO. 

#### Noted that the environment has no controller, but you can design your own controller to control the robot. 

---
## Platform Support 

* Ubuntu 20.04/22.04 (64-bit PC (AMD64) desktop)
* Windows 10

## Dependencies 

- [Docker](https://docs.docker.com/engine/install/ubuntu/) (if you use docker to install, this is necessary)

## Use without Docker
[Use this script to install Webots,gdbgui,and clonthe diablo-A1 project without controller](scripts/webots_install.sh)

Run the following in the bash : 

```shell
./scripts/webots_install.sh
```

---

## Use Docker

1. [Install nvidia driver](scripts/docker_install.sh)

```bash
./scripts/docker_install.sh
```
2. Imort the docker image (recommended by rmecboy)
 ```bash
docker pull registry.cn-guangzhou.aliyuncs.com/ddt_robot/diablo_sim:v1
 ```

3. Use docker container（run the script in your local host）

- [This script will build the container `diablo-sim`，open webots ,load .wbt and startsimulation](scripts/create_container.sh)
```bash
./scripts/create_container.sh
```
You shall see this if everything is normal.

<img src="assets/webots-自动启动.png" alt="webots-0" style="zoom: 80%;" />

- [Entr the docker container](scripts/enter_container.sh)
```bash
./scripts/enter_container.sh
```
- [Exit the docker container](scripts/halt.sh)（即`diablo-sim`）
```bash
./scripts/halt.sh
```





## Run webots with docker

### use the following command to run webots
```shell
webots
```


### Step1:Load the webots model

<img src="assets/webots-4.jpg" alt="webots-4" style="zoom:95%;" />

<img src="assets/webots-5-gui-open-wbt-file.jpg" alt="webots-5-gui-open-wbt-file" style="zoom:80%;" />



​								

<img src="assets/webots-6.png" alt="webots-6" style="zoom: 33%;" />

### Step2:Run the simulation
2.2.1 Enter the makefile directory :  
```shell
cd /opt/webots-sim-projects/sim-webots/diablo_A1/controllers/diablo_webots/
```
2.2.2 compile the code
```shell
make debug
```
2.2.3 Run the simulation, you shall see the robot fall down. Now you can start to design your own controller.
```shell
./diablo_webots
```
<img src="assets/webots7-manul-control.jpg" alt="webots7-manul-control" style="zoom: 50%;" />


## Windows Configuration
### 1.Install gcc-arm-none-eabi
- https://developer.arm.com/downloads/-/gnu-rm

<img src="assets/gcc-arm-none-eabi.PNG" height="70%" width="70%" />

- Remeber to choose Add path to envieonment variable

<img src="assets/gcc-arm-none-eabi_install.PNG"   height="50%" width="50%"  />

### 2.Install minGW
- https://sourceforge.net/projects/mingw-w64/files/Toolchains%20targetting%20Win64/Personal%20Builds/mingw-builds/8.1.0/

<img src="assets/minGW.PNG" height="70%" width="70%" />

- unzip and open mingw64\bin，change mingw32-make.exe  to make.exe，then add the bin file to PATH.

### 3.Install Webots
- https://github.com/cyberbotics/webots/releases
，choose R2023a
- Add the following to PATH
Webots\lib\controller

<img src="assets/webots_path2.png" height="50%" width="50%" />

### 4.Install the following in VSCODE

<img src="assets/vscode2.png" height="50%" width="50%" />

#### 4.1 modify launch.json
- Open VSCODE in diablo-sim-env\diablo_A1\controllers，then modify launch.json

<img src="assets/vscode3.png" height="40%" width="40%" />

将launch.json内容替换为如下代码
```
{
    "version": "0.2.0",
    "configurations": [
      {
        "type": "cppdbg",
        "request": "launch",
        "name": "Webots",
        "program": "${workspaceFolder}/diablo_webots/diablo_webots.exe",
        "stopAtEntry": false,
        "cwd": "${workspaceFolder}",
        "args": [ ],
        "environment": [],
        "externalConsole": false
      }
    ]
  }
```
#### 4.2 Modify Makefile
- Open diablo_webots\Makefile

<img src="assets/vscode4.png" height="40%" width="40%" />

Change WEBOTS_HOME_PATH to your webots path

<img src="assets/vscode5.png" height="40%" width="40%" />

- then ```make``` your project to generate diablo_webots.exe
```
cd /d/study/liao/diablo-sim-env/diablo_A1/controllers/diablo_webots

make debug
```