This repository contains the framework used in the HRATC2017 robot programming competition, with all description, simulation using Gazebo and judge components.
- description
The complete description of the robot with all its sensors (urdf files) and the description of the environment (world files), along with all models and meshes used in the descriptions.
- launch
All launch files for executing the competition.
- settings
All parameters of the judge (such as number of mines), along with minefield corners and obstacles positions in GPS coordinates.
- src
Source code of all simulation and evaluation (judge) components.
- hratc.rviz
rviz configuration file showing the minefield, the robot, its sensor measurements, and all metrics used by the judge of the challenge (mines positions, true and false detections, etc).
For complete installation instructions check here. But if you already installed the framework, you just need to run the file "run_simulation.launch" to start the simulation of the robot in gazebo, the simulation of the metal detector, the judge, and the visualization in rviz.
roslaunch hratc2017_framework run_simulation.launch
You can change the type of the simulated scenario to increase or decrease the difficulty of the robot control, and better prepare for the real environment. See here.
- Robot and sensors configuration by Renan Maffei and Gonçalo Cabrita;
- World modelling by Mathias Mantelli, Renata Neuland and Diego Pittol;
- Configuration of minefield by Mathias Mantelli and Renan Maffei;
- Simulation of the metal detector signal by Renan Maffei;
- Judge by Renan Maffei;
- Transformation of GPS coordinates and UTM by Gonçalo Cabrita;
- Occupancy grid for coverage area by Vitor Jorge;