This package provides gazebo models, plugins, and examples for simulating the RobotX challenge within Gazebo using ROS.
To launch gazebo with an example course layout and WAM-V platform, run:
roslaunch vrx_gazebo sandisland.launch
The following models are used in the RobotX challenge and will be included in this package.
| Task Element | Product | Status | Model |
|---|---|---|---|
| Light Buoy | Custom | ADDED | robotx_light_buoy |
| Obstacle - Small | PolyForm A-3 black | ADDED | polyform_a3 |
| Obstacle - Medium | PolyForm A-5 black | ADDED | polyform_a5 |
| Obstacle - Large | PolyForm A-7 black | ADDED | polyform_a7 |
| Red Can buoy | Sur-Mark Can Buoy 950410 | ADDED | surmark950410 |
| Green Can buoy | Sur-Mark Can Buoy 950400 | ADDED | surmark950400 |
| White Can buoy | Sur-Mark Can Buoy 46104 | ADDED | surmark46104 |
| Green Totem | 46104 w/ Green Cover | ADDED | green_totem |
| Yellow Totem | 46104 w/ Yellow Cover | ADDED | yellow_totem |
| Blue Totem | 46104 w/ Blue Cover | ADDED | blue_totem |
| Red Totem | 46104 w/ Red Cover | ADDED | red_totem |
| Black Totem | 46104 w/ Black Cover | ADDED | black_totem |
| Dock Material | JetDock C000000008 | ADDED | dock_block |
| 2016 Dock | Custom Assembly | ADDED | robotx_dock_2016 |
| 2018 Dock | Custom Assembly | ADDED | robotx_dock_2018 |
| Blue Circle Symbol | Custom | ADDED | symbol_circle |
| Blue Cruciform Symbol | Custom | ADDED | symbol_cross |
| Blue Triangle Symbol | Custom | ADDED | symbol_triangle |
| Green Circle Symbol | Custom | ADDED | symbol_circle |
| Green Cruciform Symbol | Custom | ADDED | symbol_cross |
| Green Triangle Symbol | Custom | ADDED | symbol_triangle |
| Red Circle Symbol | Custom | ADDED | symbol_circle |
| Red Cruciform Symbol | Custom | ADDED | symbol_cross |
| Red Triangle Symbol | Custom | ADDED | symbol_triangle |
| 2016 Pinger Transit (quals) | Custom Group of objects | ADDED | robotx_2016_qualifying_pinger_transit |
| 2016 Pinger Transit (finals) | Custom Group of objects | ADDED | robotx_2016_finals_pinger_transit |
| 2018 Entrance/Exit Gate | Custom Group of objects | ADDED | robotx_2018_entrance_gate |
| White placard | Custom | ADDED | placard |
*= More detailed model needed