RobotechVirtualChallenge

Launching the Robotech virtual challenge world

Clone the repo in your workspace and build it.

git clone --recursive [-b noetic] https://github.com/RoboTech-URJC/RobotechVirtualChallenge.git

Configuring your system

  source ~/[robotech_ws]/devel/setup.bash
  export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:[robotech_ws]/src/RobotechVirtualChallenge/robots/worlds/models
  export TURTLEBOT3_MODEL=waffle
  rosdep check --from-paths ~/[robotech_ws]/src/RobotechVirtualChallenge -i

Launching Gazebo

  roslaunch robots sim_gui.launch

Gazebo opens with a preliminary maze and 2 Turtlebot3 robots ready to test the maze.

Navigate manually and try the arena

  roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

Change cmd_vel topic by ns/cmd_vel in each case

Using the navigation-stack

purple robot

  roslaunch navigation purple_tb3_navigation.launch

red robot

  roslaunch navigation red_tb3_navigation.launch

The rviz is launched to take things under control.

WebInterface -- Tutorials

  roslaunch rosbridge_server rosbridge_websocket.launch
  firefox  ~/[robotech_ws]/src/RobotechVirtualChallenge/web_interface/example/example.html

Do a rostopic echo /robotech_vc_hub/football/event and click the buttons. It works!

Move the robot with the teleop or the navigation-stack and check the interface.

Pending tasks

• Complete and test the maze.
• Create a robot model with different colours.
• Create the fight zone.
• Create the hide-and-seek game zone.
• Launch and teleop 2 robots with different namespaces.
• Launch and navigate with 2 robots with different namespaces.