mbzirc2020

Catkin repository to store ROS packages for the MBZIRC2020

Dependencies

A list of required ROS default packages are provided in the root of this repo (requirements.txt). For installing them:

sudo apt-get install $(cat requirements.txt)

Additionally:

sudo pip install crcmod

Be sure to clone grvc-ual and checkout the mbzirc2020 tag. Also get an updated master-branch clone of grvc-utils.

Run instructions

Challenge 2

To run the simulation:

roslaunch mbzirc_launchers c2_sim.launch

If Gazebo's Real Time Factor falls far below 1.0 and proper flight control is not possible, consider using the light simulation version (no SITL):

roslaunch mbzirc_launchers c2_sim_light.launch

For visualization:

roslaunch mbzirc_visualization visualization.launch

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Challenge 3

To run the simulation of facade fires extinction:

roslaunch mbzirc_launchers c3_sim_facade.launch
roslaunch mbzirc_launchers c3_starter.launch facade_1_id:=1 (and press ENTER to start)

To run the simulation of ground fires extinction:

roslaunch mbzirc_launchers c3_sim_ground.launch
roslaunch mbzirc_launchers c3_starter.launch ground_id:=1 (and press ENTER to start)