WRS-TDRRC-2019Trial

The material storage of World Robot Summit(Competition) Tunnel Disaster Response and Recovery Challenge 2019 Trial

Requirements

1. Choreonoid (tag=wrs2019)
2. AGX for Choreonoid, Downloading AGX, The AGX highest version which we concirned that it is working is 2.27.1.3 .

How to use this repository

If you have to install choreonoid now, please follow below commands:

$ cd ~  
$ git clone -b "wrs2019" https://github.com/s-nakaoka/choreonoid.git  
$ cd choreonoid/ext  
$ wget https://github.com/WRS-TDRRC/WRS-TDRRC-2019Trial/blob/master/WRS2019.zip  
$ unzip WRS2019.zip  
$ cd ~/choreonoid && mkdir build && cd build  
$ cmake .. -DBUILD_AGX_DYNAMICS_PLUGIN=ON -DBUILD_AGX_BODYEXTENSION_PLUGIN=ON -DBUILD_COMPETITION_PLUGIN=ON -DENABLE_CORBA=ON -DBUILD_CORBA_PLUGIN=ON -DBUILD_OPENRTM_PLUGIN=ON -DBUILD_OPENRTM_SAMPLES=ON -DBUILD_MULTICOPTER_PLUGIN=ON -DBUILD_MULTICOPTER_SAMPLES=ON -DBUILD_SCENE_EFFECTS_PLUGIN=ON -DBUILD_WRS2018=ON  
$ make -j8  

Or you are already using choreonoid wrs2019, please follow below commands:
(When your choreonoid is under ~/choreonoid)

$ cd ~/choreonoid && git checkout "wrs2019"  
$ cd ~/choreonoid/ext  
$ wget https://github.com/WRS-TDRRC/WRS-TDRRC-2019Trial/blob/master/WRS2019.zip  
$ unzip WRS2019.zip  
$ cd ~/choreonoid/build  
$ cmake .. -DBUILD_AGX_DYNAMICS_PLUGIN=ON -DBUILD_AGX_BODYEXTENSION_PLUGIN=ON -DBUILD_COMPETITION_PLUGIN=ON -DENABLE_CORBA=ON -DBUILD_CORBA_PLUGIN=ON -DBUILD_OPENRTM_PLUGIN=ON -DBUILD_OPENRTM_SAMPLES=ON -DBUILD_MULTICOPTER_PLUGIN=ON -DBUILD_MULTICOPTER_SAMPLES=ON -DBUILD_SCENE_EFFECTS_PLUGIN=ON -DBUILD_WRS2018=ON  
$ make -j8  

Please find field images and run scripts in the wiki page.

The location of the simulation log files

After running a simulation, you can find a simulation log file under ~/choreonoid/ext/WRS2019/project.
Please see also Choreonoid documentation.

Edited: 7th feb. 2020