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The Future of Robot Rescue Simulation - Software day 4

Installation requirements

The workshop has several tutorials and hands-on assignments, which require simulation and programming environments. This page describes the software-packages which should be installed on your computer for the fourth day of the workshop.

What is needed to be prepared for the workshop, is Linux laptop with Ubuntu 14.04.4 LTS (Trusty 64bits), with ROS Indigo and Gazebo5. On top of that you have installed the GazeboUSARSim plugin and the Matlab Robotics System Toolbox. On this page we assume that you installed those packages following these instructions.

Software for day 4

What is needed for today is account at The Construct Sim.


For the competition, you could train on the PortMessa world:

  • cd ~/RoboCupRescuePackage
  • git pull
  • Download PortMessa.world and copy this in ~/RoboCupRescuePackage
  • source ./.bashrc.USARGazebo

Hands-on for competition

During the competition, you would connect to the gameserver shimizu-pc27 with ip 145.118.93.21. You could send two P3AT robots into the competition-world. The spawnpositions you can query with
  • telnet 145.118.93.21 3000
    GETSTARTPOSES
but are also specified in the PortMessa.world:
EASTENTRANCE 1.5,-40,0.3 0,0,0
WESTENTRANCE -1,85,0.3 0,0,0

 You could start the PortMessa world locally with the command:
  • gazebo PortMessa.world
To prepare for the competition, follow the following steps:
  1. Start your local PortMessa.world with two P3AT robots (including the sensor suite with tag pioneer3at_with_sensors) in it and control them with a teleop node.
  2. Start a PortMessa.world on your neighbours laptop and control the two P3AT robots remotely.
  3. Request training time from Masaru and control the two P3AT robots remotely driving in the competition-world.
  4. Request advanced training time from Masaru and control the two P3AT robots remotely driving in the competition-world via the USARSim protocol.
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Example code

The MRL team has released a stable version of their source-code as example for other teams:

Alternative versions

The packages used during this workshop have complex dependencies. It is well possible that you don't have to downgrade from ROS Gravy or upgrade from Gazebo5 and still be succesfull in the workshop. Actually, such alternative installation could give usefull information on the sensitivities and dependencies of the packages, so please record your experience. Yet, our experience is that the least time is wasted when you upgrade/downgrade to the versions which are recommended here.

Workshop Program

Day 1 - Monday Feb 29

Day 2 - Tuesday March 1

Day 3 - Wednesday March 2

Day 4 - Thursday March 3

Day 5 - Friday March 4

Tutorial Preparation

  • Masaru Shimizu, Chukyo University, Aichi, Japan
  • Lauren Tabolinsky & Arie Weeren - MathWorks
  • Nate Koenig - Open Source Robotics Foundation
  • Satoshi Kochiyama - New Energy and Industrial Technology Development Organization, Japan
  • Stefan Kohlbrecher - TU Darmstad, Germany
  • Ricardo Tellez - The Construct Sim
  • Arnoud Visser, Universiteit van Amsterdam, The Netherlands

The organizing committee

Organizational support by Yvonne Tjalsma.
This workshop is made possible by contributions of a number of companies and organizations: the Lorentz Center, the Intelligent Robotics Lab, the Intelligent Autonomous Systems fund, the Autonomous Intelligent Robots foundation, the Benelux Association for Artificial Intelligence, the RoboCup Federation, The Construct Sim and MathWorks. .
 

            
 

The background image is an artist impresion of NASA's Valkyrie Robot (courtesy NASA's Johnson Space Center).