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Tutorials

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Nate Koenig edited this page Nov 11, 2021 · 18 revisions

Installation

  1. Using Ignition Fortress: How to get started with SubT while using Ignition Fortress.

Solution Development

  1. Hello World: A set of tutorials and components to get started with the DARPA SubT Challenge Virtual Competition.

  2. Team Configuration: This tutorial describes how to choose robots to build your team.

  3. Example Setup: A tutorial for controlling an example robot team in a tunnel environment using a joystick.

  4. Custom Control: Basic example of a controller for a single robot (hint: this can be used as a reference for your team solution).

  5. RViz: Using Rviz to visualize sensor data.

  6. Breadcrumbs and communication visualization: Step-by-step guide on how to deploy breadcrumbs and visualize their impact in the communications.

  7. Team Base Station: How to use a Team Base Station in order to have a stationary model for compute and communication in the staging area.

  8. Marsupial vehicles: How to use marsupial vehicles, where a quad-copter is mounted on top of a mobile base.

  9. Path tracer: How to visualize robot paths from a log file in 3D.

  10. Event video generation: How create video clips based on events from a simulation run.

World and Model Development

  1. World Creation: How to create a world for SubT, including communication model support files and level generation.

  2. Rock falls: How to place rock falls for Cave Circuit worlds.

  3. Artifacts Validator Tool: Tutorial for a tool to find and visualize artifacts in the practice worlds.

  4. Connections Validator Tool: Tutorial for a tool to find and visualize connections in the practice worlds in order to find gaps.

  5. Model Submission Process: Step-by-step guide on how to submit a robot model to request addition to the SubT Tech Repo.

  6. Model Migration from Gazebo9 to Ignition Gazebo: Step-by-step guide on how to convert Gazebo9 models into a format that is compatible with Ignition Gazebo.

Other Documentation

  1. Battery Model: Description of how batteries are modeled in the SubT Simulator.

  2. Communication Model: Description of how communication is modeled in the SubT Simulator.

  3. Finals Systems world: Information about the worlds designed to mimic the System track of the SubT Final Event.

  4. Post Finals features: A description of features added to the SubT Simulator after the Final Event.

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