Tutorials/CloudSim/1.2/vrc trio

Introduction ===

During the VRC, simulation tasks will be executed by constellations of 3 cloud machines:
 * The simulator computer, that runs Gazebo and the DRC worlds and models.
 * The field computer, that contains the team specific code that interacts with the robot
 * The router computer, that measures bandwidth and shapes the traffic between the tele operation station and the field computer.
 * The OCU is the local computer outside of the cloud. It tele operates the robot

During the competition, only the keys to the field computer will be available to the teams. The simulator and router machines will not be accessible.



Prerequisites === This tutorial assumes that you have a Google email account that has been granted access to a running CloudSim instance. See CloudSim setup and installation tutorial.

Launching a VPC trio constellation with a field computer, a router and a simulator === In the "Launch a machine constellation" section, select "VPC_trio" from the drop down menu and press the "Launch" button. VPC stands for Virtual Private Cloud, the Virtual Private Network implementation of Amazon. After a few seconds, you should see a new section appear inside the "Constellation" section. It should contain 3 machines. It takes up to 20 min for all 3 machines to be setup. Once done, all the dots should be blue, except the one associated to the package launcher widget.



When the process has completed, you should see a running constellation:



Start and stop a Gazebo simulation using ROS === The widget shown below allows you to start and stop a ROS package from CloudSim. It is used to start the DRC simulator and Gazebo. Type in the package, launch file and arguments and press the `Start` button.



After a few seconds, the red dot should turn blue, indicating that Gazebo is running.



Next ===

Now you could terminate the constellation by reading the next section or continue by following these tutorials:
 * Use gzclient on your local machine to connect to a cloud simulation
 * Using the field computer VPC trio constellation
 * Using the traffic shaper tool to modify latency and packet loss

Terminate the constellation and its machines ===

Press the "Terminate" button on the top left corner of the Constellation section. Within a few seconds, you should see the Machine state dot turn to orange and the "running" will change to "shutting down".

Once the state of every machine indicates "terminated", the constellation will not appear if the browser window is refreshed.

It is important to terminate constellations, even when they were not successfully launched. This ensures that all Cloud computing resources are released. See Troubleshooting CloudSim.
 * Note: