Experiments for the paper "Aggregate Indoor Localisation" submitted to COORDINATION 2026.
All commands below are assumed to be issued from the cloned git repository folder. For any issues, please contact Giorgio Audrito.
- FCPP main website: https://fcpp.github.io.
- FCPP documentation: http://fcpp-doc.surge.sh.
- FCPP presentation paper: http://giorgio.audrito.info/static/fcpp.pdf.
- FCPP sources: https://github.com/fcpp/fcpp.
To clone the repo from Github use the command:
git clone git@github.com:fcpp-experiments/indoor-localisation.git
The next sections contain the setup instructions for the various supported OSs. Jump to the section dedicated to your system of choice and ignore the others.
Pre-requisites:
At this point, run "MSYS2 MinGW x64" from the start menu; a terminal will appear. Run the following commands:
pacman -Syu
After updating packages, the terminal will close. Open it again, and then type:
pacman -Sy --noconfirm --needed base-devel mingw-w64-x86_64-toolchain mingw-w64-x86_64-cmake mingw-w64-x86_64-make git
The build system should now be available from the "MSYS2 MinGW x64" terminal.
Pre-requisites:
- Xorg-dev package (X11)
- G++ 9 (or higher)
- CMake 3.18 (or higher)
- Asymptote (for building the plots)
To install these packages in Ubuntu, type the following command:
sudo apt-get install xorg-dev g++ cmake asymptote
In Fedora, the xorg-dev package is not available. Instead, install the packages:
libX11-devel libXinerama-devel.x86_6 libXcursor-devel.x86_64 libXi-devel.x86_64 libXrandr-devel.x86_64 mesa-libGL-devel.x86_64
In Arch Linux, you can instead install the packages as follows:
sudo pacman -S xorg-server-devel gcc cmake
yay -S asymptote
Pre-requisites:
- Xcode Command Line Tools
- CMake 3.18 (or higher)
- Asymptote (for building the plots)
To install them, assuming you have the brew package manager, type the following commands:
xcode-select --install
brew install cmake asymptote
Download Docker from https://www.docker.com, then you can download the Docker container from GitHub by typing the following command in a terminal:
docker pull ghcr.io/fcpp-experiments/indoor-localization:1.0.0
Alternatively, you can build the container yourself with the following command:
docker build -t ghcr.io/fcpp-experiments/indoor-localization:1.0.0 .
Once you have the Docker container locally available, move to the root of the repo directory for running the container.
In Linux you should enable access to xhost from docker (for GUI):
xhost +local:docker
and then type the following command to enter the container:
docker run -it --rm --volume $PWD:/indoor-localization \
--workdir /indoor-localization -e DISPLAY=:0 \
-v /tmp/.X11-unix:/tmp/.X11-unix --entrypoint /bin/bash \
ghcr.io/fcpp-experiments/indoor-localization:1.0.0
In this way, in Linux you will be able to run both the batch and graphic versions of the system.
On Mac you can use the same command (possibly omitting the parameters related with X) but you will only be able to run the batch version of the system.
On Windows (MSYS2 shell) you should give a slightly different command to run the container:
MSYS2_ARG_CONV_EXCL='*' docker run -it --rm -v "$(pwd -W):/indoor-localization" -w /indoor-localization --entrypoint /bin/bash ghcr.io/fcpp-experiments/indoor-localization:1.0.0
to deal with path conversions between MSYS2 and the container. As on the Mac, you will only be able to run the batch version of the system.
Finally the following command exits the container:
exit
In order to properly link the executables in Docker, you may need to add the -pthread option (substitute -O for -O -pthread below).
If you use a VM with a graphical interface, refer to the section for the operating system installed on it.
Warning: the graphical simulations are based on OpenGL, and common Virtual Machine software (e.g., VirtualBox) has faulty support for OpenGL. If you rely on a virtual machine for graphical simulations, it might work provided that you select hardware virtualization (as opposed to software virtualization). However, it is recommended to use the native OS whenever possible.
You can reproduce the plots from the paper by typing the following command in a terminal:
./make.sh gui run -O batch
In order to execute the graphical simulation, type the following command instead:
./make.sh gui run -O graphic
On newer Mac M1 computers, the -O argument may induce compilation errors: in that case, use the -O3 argument instead.
If you want to get profiling information, add a -DPROFILER option.
If you want to specify the simulation parameters, type the following command:
./make.sh gui run -O graphic - <comm_radius> <variance> <speed> <algorithm>
The default value for comm_radius is 150m, the default value for variance is 20%, the default value for speed is 0m/s, and the default value for algorithm is mlcoop_real. Node colors will be tuned according to the error of the chosen algorithm.
Running the above commands, you should see output about building the executables then the graphical simulation should pop up while the console will show the most recent stdout and stderr outputs of the application, together with resource usage statistics (both on RAM and CPU). During the execution, log files will be generated in the output/ repository sub-folder. When launching a batch of multiple simulations (batch target), individual simulation results will be logged in the output/raw/ subdirectory, with the overall resume in the output/ directory.
Executing a graphical simulation will open a window displaying the simulation scenario, initially still: you can start running the simulation by pressing P (current simulated time is displayed in the bottom-left corner). While the simulation is running, network statistics will be periodically printed in the console. You can interact with the simulation through the following keys:
Escto end the simulationPto stop/resumeO/Ito speed-up/slow-down simulated timeLto show/hide connection links between nodesGto show/hide the grid on the reference plane and node pinsMenables/disables the marker for selecting nodesleft-clickon a selected node to open a window with node detailsCresets the camera to the starting positionQ,W,E,A,S,Dto move the simulation area along orthogonal axesright-click+mouse dragto rotate the cameramouse scrollfor zooming in and outleft-shiftadded to the camera commands above for precision control- any other key will show/hide a legenda displaying this list
Hovering on a node will also display its UID in the top-left corner.