RoboCup2018 Rescue Simulation Virtual Robot League

This repository includes a robot model and field models used in RoboCup World Champion Ship 2018 Rescue Simulation Virtual Robot League(RC2018RVRL).
You can find other records of the RC2018RVRL game in wiki page of this repository. And you can find important information like the latest rule in the rescue virtual robot league wiki page.

You can access the scoring by the clicking here

Installation

You can install Ros(Kinetic), Gazebo 8, necessary packages by the following command using the ubuntu 16.04:

$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'   
$ sudo apt-key adv --keyserver hkp://pool.sks-keyservers.net --recv-key 0xB01FA116   
$ sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-latest.list'   
$ wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -     
$ sudo apt-get update   
$ sudo apt-get install -y cmake g++ protobuf-compiler pavucontrol libignition-math3 libsdformat5 libignition-math3-dev libignition-msgs0-dev gazebo8-plugin-base libgazebo8 libgazebo8-dev ros-kinetic-desktop  ros-kinetic-ros-control ros-kinetic-ros-controllers ros-kinetic-image-view2 ros-kinetic-rqt ros-kinetic-rqt-common-plugins ros-kinetic-joy ros-kinetic-teleop-twist-keyboard ros-kinetic-message-to-tf ros-kinetic-tf2-geometry-msgs ros-kinetic-audio-common ros-kinetic-costmap-2d ros-kinetic-image-transport ros-kinetic-image-transport-plugins ros-kinetic-hector-mapping ros-kinetic-hector-geotiff 
$ sudo apt-get install ros-kinetic-hector-pose-estimation ros-kinetic-hector-sensors-description ros-kinetic-controller-manager ros-kinetic-gmapping ros-kinetic-move-base ros-kinetic-hector-mapping ros-kinetic-gazebo8* 

Network Setup

check the network folder and setup your computer based on the coressponding files.

Server Setup

$ cd ~/RoboCup2018RVRL_Demo  
$ ./cleanup    
$ catkin_make  

Server Setup for world_Pre_outdoor_1.launch

Launch the server

At terminal1 :  

$ cd ~/RoboCup2018RVRL_Demo  
$ . setup.bash  
$ roslaunch setup world_pre_outdoor_1.launch  

Spawn robots

At terminal2 :  

$ cd ~/RoboCup2018RVRL_Demo  
$ . setup.bash  
$ roslaunch robot_description spawn_multi_robots_pre_outdoor_1.launch  
(roslaunch quadrotor_description spawn_multi_robots.launch)  

Server Setup for world_Pre_indoor_1.launch

Launch the server

At terminal1 :  

$ cd ~/RoboCup2018RVRL_Demo  
$ . setup.bash  
$ roslaunch setup world_pre_indoor_1.launch  

Spawn robots

At terminal2 :  

$ cd ~/RoboCup2018RVRL_Demo  
$ . setup.bash  
$ roslaunch robot_description spawn_multi_robots_pre_indoor_1.launch  
(roslaunch quadrotor_description spawn_multi_robots.launch)  

Run the robot controller

At terminal3 :  

$ cd ~/RoboCup2018RVRL_Demo  
$ . setup.bash  
$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=robot0/cmd_vel  
(roslaunch hector_quadrotor_teleop SELECT_YOUR_GC.launch robot:=robot0)  

For quadrotors.

At terminal3 :  

$ cd ~/RoboCup2018RVRL_Demo  
$ . setup.bash  
$ rosrun hector_quadrotor_teleop logitech_gamepad.launch robot:=robot0  
(Push button4, to start motors)