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Angela Maio edited this page Jun 30, 2023 · 76 revisions

2021-11-03

  1. Finals Systems worlds released.

Docker Images

2021-09-24

  1. Final Prize Round world 8.

Docker Images

2021-09-23

  1. Final Prize Round worlds 4, 5, 6, and 7.

Docker Images

2021-09-22

  1. The first three Final Prize Round worlds.

Docker Images

2021-08-16

  1. Fix gas artifact and move debris wall 2 in final prelim world 01.

  2. Add mapping server relays to more models and teambase.

  3. Fix region detect event logic and add finish logging.

Docker Images

2021-07-13

  1. Updated the thermal cameras on MARV, Mike, and Karen.
  2. Downsample mapping data.
  3. Fixed communication model neighbor information.
  4. Increased collision tolerance.
  5. Updated Fuel models to match models on osrf/subt, which includes the following changes:
    • ctu_cras_norlab_marv_sensor_config_3 - Missing camera intrinsics and incorrect thermal camera temperatures
    • ctu_cras_norlab_marv_sensor_config_4 - Missing camera intrinsics and incorrect thermal camera temperatures
    • ctu_cras_norlab_x500_sensor_config_1 - Missing new camera positions
    • emesent_hovermap_sensor_config_1 - Missing velocity limit on encoder_joint
    • csiro_data61_dtr_sensor_config_1 - Missing lens intrinsics
    • ctu_cras_norlab_absolem_sensor_config_1 - Missing updates from PR 877
    • ctu_cras_norlab_absolem_sensor_config_2 - Missing updates from PR 877
    • coro_karen_sensor_config_1 - Missing thermal sensor plugin
    • coro_karen_sensor_config_2 - Missing thermal sensor plugin
    • coro_mike_sensor_config_1 - Missing thermal sensor plugin
    • coro_mike_sensor_config_2 - Missing thermal sensor plugin
    • cerberus_gagarin_sensor_config_1 - Incorrect noise SDF tags for IMU
    • ssci_x4_sensor_config_2 - Incorrect IMU noise

Docker Images

2021-06-17

  1. Updated CTU CRAS NORLAB Spot models.
  2. Updated Cerberus Gagarin, Marble Husky configs 1-4, and Marble QAV500 models.
  3. Added additional logging for collisions.
  4. Updated DART to resolve issue #719.

Docker Images

2021-06-01

  1. Fixed Marble Husky 5 visualization.
  2. Added fog emitter event.
  3. Add stdout, stderr capture to cloudsim.

Docker Images

2021-05-25

  1. Vehicle damage plugin.
  2. Tunnel wall dynamic obstacle.
  3. Urban wall dynamic obstacle.
  4. Finals practice 01 world with new tunnel dynamic obstacle.
  5. Finals practice 02 world with new urban dynamic obstacle.
  6. Mapping server relays were added in the April 2nd release, and documentation has been added to the API wiki page.

Docker Images

2021-05-14

  1. New robot models:

    1. CTU_CRAS_NORLAB_HUSKY_SENSOR_CONFIG_1
    2. CTU_CRAS_NORLAB_HUSKY_SENSOR_CONFIG_2
    3. CTU_CRAS_NORLAB_MARMOTTE_SENSOR_CONFIG_1
    4. CTU_CRAS_NORLAB_MARMOTTE_SENSOR_CONFIG_2
    5. MARBLE_SPOT_SENSOR_CONFIG_1
    6. MARBLE_SPOT_SENSOR_CONFIG_2

  2. Fixed marsupial mounting and valid children for Coordinated Robotics Allie, Karen, and Mike platforms in PR #912.

  3. Fixed fx, fy focal length of front camera on CTU CRAS NORLAB X500 to be consistent with hfov in PR #907.

  4. Added set_rate service to CTU CRAS NORLAB X500 in PR #906.

Docker Images

2021-04-22

  1. New robot models:

    1. CTU_CRAS_NORLAB_LILY_SENSOR_CONFIG_1
    2. CTU_CRAS_NORLAB_LILY_SENSOR_CONFIG_2
    3. CORO_CRYSTAL_SENSOR_CONFIG_1
    4. CORO_MIKE_SENSOR_CONFIG_1
    5. CORO_MIKE_SENSOR_CONFIG_2
    6. CORO_ROCKY_SENSOR_CONFIG_1
    7. CORO_ROCKY_SENSOR_CONFIG_2
    8. CORO_ROCKY_SENSOR_CONFIG_3

  2. Migrated particle emitter from an Ignition Gazebo plugin to SDF in order to support web visualization.

    1. SDF
    2. ign-msgs
    3. ign-gazebo
    4. ign-gazebo
    5. ign-launch
    6. SubT

  3. Fix particle emitter log playback.

Docker Images

2021-04-19

  1. New robot models:

    1. CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1
    2. CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_2
    3. CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_1
    4. CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_2
    5. CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_3
    6. CTU_CRAS_NORLAB_MARV_SENSOR_CONFIG_4
    7. EMESENT_HOVERMAP_SENSOR_CONFIG_1
    8. CORO_ALLIE_SENSOR_CONFIG_1
    9. CORO_ALLIE_SENSOR_CONFIG_2

  2. Fix Cloudsim shutdown state message.

Docker Images

2021-04-02

  1. New robot models:
    1. CORO_KAREN_SENSOR_CONFIG_1
    2. CORO_KAREN_SENSOR_CONFIG_2
    3. CORO_PAM_SENSOR_CONFIG_1
    4. CTU_CRAS_NORLAB_X500_SENSOR_CONFIG_1
  2. Added rails to section of Finals Practice World 1.
  3. Fixed PI issue #804
  4. Added contact system
  5. Mapping server topics on the ros-ign bridge.

Docker Images

2021-03-18

  1. Add finals practice worlds and cube artifact type
  2. Fix segfault when a robot with flippers is a part of the world at startup
  3. Add breadcrumb remaining ROS topic
    • still needs a ros_ign release

Docker Images

2021-03-04

  1. Update comms model to cover base station position in Finals Qualification world

Docker Images

2021-03-03

  1. Adjust artifact origin and add base station model in Finals Qualification world

Docker Images

2021-03-03

  1. Finals Qualification world with fog emitter
  2. Support setting camera and lidar update rate
  3. New IMU noise values
  4. Adjusted world temperature values

Docker Images

2021-02-16

  1. Fix Virtual STIX tiles

Docker Images

2021-02-12

  1. Credit values for the X1-X4 robot models have reverted back to the values prior to Cave Circuit. This doubles the cost for these robot types.

  2. Ignition topic statistics have been enabled.

  3. LIDAR point cloud noise has been fixed.

  4. It's now possible to set sensor update rate using Ignition services.

  5. Virtual STIX world has been updated to work with the latest SubT Simulator.

  6. Support for thermal cameras with world updates.

  7. New robot models with thermal cameras.

    1. EXPLORER_R3_SENSOR_CONFIG_1
    2. EXPLORER_R3_SENSOR_CONFIG_2
    3. CSIRO_DATA61_DTR_SENSOR_CONFIG_1
    4. CSIRO_DATA61_DTR_SENSOR_CONFIG_2
    5. MARBLE_HD2_SENSOR_CONFIG_3
    6. MARBLE_HD2_SENSOR_CONFIG_4
    7. MARBLE_HUSKY_SENSOR_CONFIG_3
    8. MARBLE_HUSKY_SENSOR_CONFIG_4
    9. CERBERUS_M100_SENSOR_CONFIG_2

Docker Images

CloudSim Update Notice

The scheduled CloudSim maintenance is complete as of 8:20 AM ET on 31 JAN 2021.

Summary

  • Change ECR docker repository requests from 200670743174.dkr.ecr.us-east-1.amazonaws.com/ to 138467776890.dkr.ecr.us-east-1.amazonaws.com/.
  • Change Cloudsim submissions from https://cloudsim.ignitionrobotics.org to https://cloudsim.subtchallenge.world.

Details

If you are a registered SubT participant you will receive an email with new AWS credentials. ECR docker images should use the 138467776890 account instead of the 200670743174 account. For example, if your ECR repository is subt/team_a then you would push images to 138467776890.dkr.ecr.us-east-1.amazonaws.com/subt/team_a instead of 200670743174.dkr.ecr.us-east-1.amazonaws.com/subt/team_a.

Additionally, all CloudSim simulation requests should now go to the https://cloudsim.subtchallenge.world URL. The previous URL was https://cloudsim.ignitionrobotics.org.

2021-01-21

The following Ignition launch files have been combined into the competition.ign launch file:

  1. cave_circuit.ign
  2. urban_circuit.ign
  3. tunnel_circuit_practice.ign

Each of the above three launch files have been replaced with a symbolic link to competition.ign. You will need to specify a circuit:=[tunnel,urban,cave] command line parameter from now on. For example: ign launch competition.ign worldName:=simple_cave_01 circuit:=cave robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_1.

  1. More space efficient subt_models Docker image.
  2. Send robot pose information if the robot has traveled more then 1m or 1second of simulation time has elapsed.
  3. Use Release build.
  4. Report log and message artifact reports in the artifact origin frame.
  5. Update VLP-16 resolution and rate and PR 764.
  6. Remove model database from cloudsim bridge.
  7. Call rosdep install from cloudsim dockerfiles.
  8. Constrain the list of topics bridge_logger subscribes to to only those actually published by some vehicle_topics.launch file.
  9. Better support running from a local catkin workspace.
  10. Combine circuit launch files
  11. New robot models
    1. CERBERUS RMF Sensor Config 1
    2. COSTAR Shafter Sensor Config 1
    3. CERBERUS ANYmal C Sensor Configs 1 & 2
    4. New marsupial pairs

Docker Images

2020-12-16

  1. Migrate from Ignition Blueprint to Ignition Dome. A version of osrf/subt that is compatible with Ignition Blueprint is available on the blueprint branch.
  2. SubT models have been broken out into a separate docker image. See pull request #718.

Docker Images

2020-12-08

  1. Fix for Issue #689, which will download all models and worlds using lowercase.
  2. Models now support dependencies, see Fuel Tools pull #123. Additionally, models with duplicate materials now utilize this feature. This change reduces the disk space consumed by models and reduces model download time.
  3. Fix for Issue #690.
  4. Fix for Issue #592.
  5. Fix mean time calculation in Pull #705.
  6. Added Cave Circuit competition worlds in Pull #706.
  7. Update position of lights on side of Explorer X1 robot models in Pull #694.
  8. Remove duplicate topics from Marble Qav500 in Pull #693.
  9. Fix segfault in Breadcrumb system in Ignition Gazebo Pull #454.
  10. Fix robot falling through tiles in Ignition Physics Pull #137.

Docker Images

2020-10-07

  1. Fix for Issue #631
  2. Fix for Issue #634
  3. Fix for Issue #635

Docker Images

2020-09-25

  1. Update communication model.
  2. Improvements to robot trajectory visualization.
  3. Improvements to data logging.
  4. Add wheel slip plugin.
  5. Cave procedural world generator
  6. Fix connection and artifact validator tools
  7. Fix report limit off-by-one error.
  8. Support spawning of lights during log playback.
  9. Add xvfb to docker sim image
  10. Fix catkin build.
  11. Fix phone under mesh

Docker Images

2020-09-01

  1. Distribute niosh docker layers, and rename NIOSH tiles.
  2. Publish robot name and type information.
  3. Log breadcrumb events.
  4. Fix direction of lights on robot Robotika Freyja.
  5. Fix typos in readme.

Docker Images

2020-08-27

  1. Corrected path for Freyja model.xacro file wheel.dae reference..
  2. Log max rock fall events.
  3. Fix explorer ds1 xacro file and robotka x2 spawner.rb.
  4. Fix explorer r2 marsupial link.
  5. Absolem: Synchronize Xacro and SDF files.
  6. Send back score of a duplicate report.
  7. Log robot names and configurations in run.yml.

Docker Images

2020-08-11

  1. Updates to the events.yml log file include:

    1. Log dead battery events.
    2. Log vehicle flip events.

  2. A record of marsupial pairs is stored in the summary.yml log file.

  3. Fix optical frames for cerberus_m100, marble_qav500, robotika_freyja models.

  4. New robot models

    1. CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1
    2. CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_2
    3. CERBERUS_GAGARIN_SENSOR_CONFIG_1
    4. CSIRO_DATA61_OZBOT_ATR_SENSOR_CONFIG_1
    5. CSIRO_DATA61_OZBOT_ATR_SENSOR_CONFIG_2

Docker Images

2020-07-31

  1. Web visualization of active runs are accessible through the SubT Portal. This feature is limited to registered teams.

  2. A competition clock is available on a ROS topic. The competition clock contains the current phase of a run and the time remaining.

  3. Expanded the run.yml log file to include:

    1. Greatest cumulative elevation gain by a robot on the team
    2. Greatest cumulative elevation loss by a robot on the team
    3. Total cumulative elevation gain by all the robots.
    4. Total cumulative elevation loss by all the robots.
    5. Max elevation reached by a robot
    6. Min elevation reached by a robot
    7. Greatest distance traveled by a robot on the team.
    8. Greatest euclidean distance traveled by a robot from the staging area.
    9. Total distance traveled by all the robots.
    10. Greatest maximum velocity by a robot.
    11. Greatest average velocity.

  4. Robot position data are streamed to individual log files in the pos-data subdirectory, named as <robot_name>-pos.data. The position samples are taken when the robot has moved more than 1m. Each entry in the position data log file consists of space delimited numbers in the format of <second> <nanosecond> <x> <y> <z>.

Docker Images

2020-07-23

  1. New robot models are available including:

    1. ROBOTIKA_FREYJA_SENSOR_CONFIG_2
    2. EXPLORER_R2_SENSOR_CONFIG_2
    3. ROBOTIKA_KLOUBAK_SENSOR_CONFIG_2
    4. MARBLE_HD2_SENSOR_CONFIG_2
    5. MARBLE_HUSKY_SENSOR_CONFIG_2
    6. CERBERUS_ANYMAL_B_SENSOR_CONFIG_2
    7. EXPLORER_DS1_SENSOR_CONFIG_1
    8. EXPLORER_R2_SENSOR_CONFIG_1

  2. A new run.yml file will appear in your simulation logs that includes the following information:

    1. Number of artifacts found.
    2. Robot count
    3. Unique robot count (for example, a team of two X1_SENSOR_CONFIG_1 robots would have a unique count of 1).
    4. Total simulation time.
    5. Total real time.
    6. Number of artifact report attempts
    7. Number of duplicate artifact reports.
    8. Closest artifact report: a. Distance in meters. b. True position of the artifact. c. Reported position. d. Artifact type and name.
    9. First artifact report time.
    10. Last artifact report time.
    11. Mean time between success reports

  3. A new events.yml file will appear in your simulation logs that includes a list of events. An event can include the following:

    1. Robot enters or leaves a region of interest, such as the staging area.
    2. A robot triggers a dynamic obstacle.
    3. Marsupial deployment.
    4. Artifact report attempt.
    5. Successfully scoring a point.
    6. Competition run start.
    7. Competition run finish.

  4. Joint state publication for the MARBLE_HD2 and MARBLE_HUSKY models has been limited to the gimbal joints in #485.

Docker Images

2020-06-25

  1. New robot models are available including:
    1. CERBERUS_M100
    2. MARBLE_HD2
    3. MARBLE_HUSKY
    4. CERBERUS_ANYMAL_B
    5. MARBLE_QAV500
    6. ROBOTIKA_FREYJA
    7. ROBOTIKA_KLOUBAK
  2. Velocity and acceleration limits are in place for robot models.

Docker Images

2020-06-11

  1. Added rock falls to all three cave practice worlds.
  2. Tutorials and graphical interfaces are available for world creation.
  3. Adjusted the communication model for Cave worlds.
  4. Adjusted the battery plugin to discharge only when a vehicle is commanded.

Docker Images

2020-05-25

Docker Images

2020-05-15

Docker Images

2020-05-06

Docker Images

2020-04-21

  • Released Cave Circuit Qualification world.
    • To run using docker: ./run.bash subt_sim_entry competition.ign worldName:=cave_qual circuit:=cave robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG1 using run.bash.
    • To run using catkin: ign launch competition.ign worldName:=cave_qual circuit:=cave robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG1
  • Released two new artifacts
  • Cloudsim blocks multicast messages on field computers (robot instances).

2020-04-09

  • Moved code, issue tracker, and wiki to github.

2020-04-06

2020-03-29

2020-03-23

2020-03-13

Cloudsim has been updated to include three new logging capabilities:

  1. Network traffic. The simulation container and bridge containers log network traffic using bwm-ng to a network_traffic.csv file. The CSV file containers headers that explains the data in each column. For reference, the EC2 machines used by cloudsim have a maximum bandwidth of 10 Gbps.

  2. ROS topic debug. The ROS console logs will now contain information about full queues. Using the following command to check for the occurrence of full queues: grep -ri "discarding oldest message" *

  3. Sensor data sequence numbers. Robot logs will contain a number of log files that look like bridge_logger--<topic_name>.log. These logs are white space delimited. The first column contains the sensor topic sequence number, second column is simulation time, and third is the real-time as measured by the Bridge. gnuplot can be used to plot the data. The following is an example.

plot 'bridge_logger--X2N1-front_scan.log' using 2:xtic(1) with lines title 'Sim Time', 'bridge_logger--X2N1-front_scan.log' using 3:xtic(1) with line title 'Real Time'

Example output: example_plot.png

The bridge_loggger files will also contain the text "Error: Missed message(s)" if messages were dropped or arrived out of order.

2020-02-28

2020-01-21

  • Removed collision blocks in the Urban 2 Story Large room

2020-01-18

  • Improved communication between the UAV VelocityControl and MotorModel systems (PR #498)
  • Added a data queue in the recorder to use a background thread for writing to file (PR #428)
  • Realigned the gas emitter location to fill the whole room

2019-12-20

2019-12-18

  • Twelve(12) new robot models have been released!
  • API documentation and Robots Wiki page have been updated
  • New multicopter velocity controller for UAVs (PR #390)
  • Update launch configs to spawn team robot models (PR #383)
  • Fix camera parameters for submitted models (PR #388)
  • Fix gap in Urban circuit practice world 02 (PR #393)
  • Add usage function to specify circuit and run mode for docker-compose (PR #366)

2019-12-04

  • Three NEW Urban Circuit practice worlds
  • Added two NEW artifacts, Vent & Gas Emitter
  • Added layers of illumination to some of the worlds
  • Simplify running docker-compose (PR #333)
  • Support for model submissions (PR #331)

2019-11-14

  • New starting area with orientation consistent with Tunnel Circuit and with Systems Track rules (PR #334)

2019-10-31

  • No code changes, only added more artifacts to the three simple Urban worlds
  • Updated docker-compose script to support the Urban Circuit environment while keeping backward compatibility with the Tunnel Circuit (PR #318)
  • Wiki documentation updates

2019-10-28

  • Includes the Urban Circuit worlds - one qualification and three simple worlds
  • Three additional practice worlds are coming soon

2019-10-08

  • Enable bagging of the /rosout_agg topic (PR #303)
  • Enable line-buffering (PR #301)

2019-09-30

  • Update staging area to stop UAVs for flying up and away.
  • Clarify worldName parameter in docker compose yaml file (PR #293)
  • Auto start the competition if a robot moves into the tunnel (PR #294)
  • Update battery information in the Clouds_sim launch file (PR #295)

2019-09-18

  • No code changes, only models changes that weren't synced in the previous release.

2019-09-13

  • Fixed IMU noise model dt (PR #94)
  • Updated the collision of the ramp tunnel

2019-09-10

  • Add robot_names for all launch files (PR #289)
  • Enable gamma write on color texture in depth camera (PR #193)
  • Allow customizing odometry publish frequency and use sim time to throttle (PR #427)

2019-09-05

  • Includes a new script that creates the /tmp/.docker.xauth entry before launching docker-compose.
  • Added three(3) new simple/small tunnel environments for quick development tests (e.g. worldName:=simple_tunnel_01)
  • Updated the development environment and docker-compose documentation
  • New Portal landing page for the virtual competition submissions

2019-08-28

  • Relocated camera view for the X4 UAV
  • Added support in DepthCamera for generating RGB XYZ data
  • Improve the UGVs rotation behavior

2019-08-14

  • Reduced the rate of warning messages generated by the robot_localization node. The messages are saved in ~/.ros/logs/latest/rosout.log file and they should now remain < 1MB size
  • Updated tunnel meshes onto the Fuel server so LiDAR laser beams don't pass through. It also fixes the inside of the tunnel entrance; which was partially invisible
  • Added the Docker composer YAML file to allow teams to setup replicates of the cloud simulation locally for the SubT Virtual Testbed

2019-08-06

This release includes the fixes/changes below, installation instructions here

  • All cameras now publish compressed topics.
  • New behavior for repeated artifact reports by only counting unique reports; which is composed by concatenating the report type and its location
  • Score files are updated at start and at every artifact report; which guarantees that information is not lost
  • A very useful tool is now included with this release that allows to find and visualize artifacts in the practice worlds, details here
  • Fixed the issue with inside of the tunnel entrance being partially invisible (catkin installations need to clear their local model: rm -rf ~/.ignition/fuel)
  • The tutorial describing how to use /subt/pose_from_artifact_origin service, has been updated. (hint: useful as solution template)
  • API documentation has been updated with the latest changes

2019-07-27

  • Moved artifact origin to center of tunnel entrance
  • Increased UGV battery-like to ~90 min
  • Added custom roll_pitch_yawrate_thrust_controller_node
  • Fixed level width in practice worlds
  • Fixed level size and position for tunnel circuit practice world 01 and 03 practice_world_levels
  • Remove the ros1 ign point cloud plugin, and replaces the functionality with the ros1 ign bridge
  • Added headless option to launch files headless_option
  • Removed ROS from CommsBroker remove_ros_from_commsbroker
  • Fixed RenderingAPIException: Couldn`t open X display
  • Documentation has been updated accordingly to reflect these changes

2019-07-18

  • New docker image is available on DockerHub
  • Performance has improved by turning levels for the practice worlds On/Off, as the vehicle moves through tunnel sections. The performance is now 6x time faster
  • The battery model now has a topic that reports the state and message type
  • Deadlocks are now fixed
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