RoboMaster 2023, 2024 University AI Challenge Competition Simulator Owner’s Manual
Abstract
The organizing committee provides a competition venue model, allowing participating teams to experience the event advance. Teams can use the model by simulator softwares(for example: gazebo). Besides, the organizing committee has developed a sample simulator based on the venue model. This simulator:
- integrated with the ROS system, it is convenient to obtain the drone’s pose, IMU data and image data through ROS nodes, while also controlling the drone by ROS node.
- Real-time dynamic obstacle movement effect has been achieved.
- When entering the zone from 8 to 0 boxes, sidewinds are generated.
- The scoring logic of task boxes is not implemented.
- The forward direction of the initial orientation of drone is the positive X-axis, the rightward directoin is the positive Y-axis, the downward direction is the positive Z-axis, and the initial position of drone is (0, 0, 0.8). The coordinate system in the simulator is inconsistent with that used in the actual competition.
Note: This simulator example is only for a preview of the competition content. The actual specifications and textures of the filed props should be referred to RoboMaster 2023-2024 University AI Challenge Classic Rules Manual V1.0.pdf.
URL of Competition Venue Model
wget https://sz-rm-rmua-dispatch-prod.oss-cnshenzhen.aliyuncs.com/9f9e486a3cde4342d106b613509f2f13 -O RMUA2024-model.zip
Instruction of Sample Simulator
1. Install ROS-Noetic
- 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 install curl
- curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc
| sudo apt-key add – - sudo apt update
- sudo apt install ros-noetic-desktop-full
- sudo apt install python3-catkin-tools
2. Usage
- mkdir ~/simulator && cd ~/simulator
- wget https://sz-rm-rmua-dispatch-prod.oss-cnshenzhen.
aliyuncs.com/a5b9033cf7aeb347e43a08f07992cf22 -O
uasim_student_240204_r1_shipping.zip - unzip uasim_student_240204_r1_shipping.zip
- mkdir ~/Documents/AirSim
- cp settings.json ~/Documents/AirSim
- source /opt/ros/noetic/setup.bash
- roscore
- open a new ternimal
- ./Build/LinuxNoEditor/RMUA.sh
ROS data
- Load the custom data types
source devel/setup.bash - Use rqt to check data and control drone rqt
The topic for obtaining data
- Bottom Camera
/airsim_node/drone_1/bottom_center/Scene - Left Camera /airsim_node/drone_1/front_left/Scene
- Right Camera
/airsim_node/drone_1/front_right/Scene - IMU /airsim_node/drone_1/imu/imu
- Real Pose of Drone
/airsim_node/drone_1/debug/pose_gt - PWM Signal (0:right front, 1:left back, 2:left front, 3:right back)
/airsim_node/drone_1/rotor_pwm
The topic fot controlling drone
- PWM controlling
/airsim_node/drone_1/rotor_pwm_cmd - Velocity Contrilling
/airsim_node/drone_1/vel_cmd_body_frame - Angle Rate Throttle Controlling
/airsim_node/drone_1/angle_rate_throttle_frame
Note：
The simulator provides a chessboard and a AprilGrid board to calibrate the drone’s camera.
The number of inner dot of chessboard is 8*11, while the length of the squares is 20mm.
The AprilGrid has 6*6 big squares, whose length is 88mm, while the length of small squares is 26.4mm.
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Documents / Resources
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RoboMaster 2023, 2024 University AI Challenge Competition Simulator [pdf] Owner's Manual 2023, 2024, 2023 2024 University AI Challenge Competition Simulator, 2023 2024, University AI Challenge Competition Simulator, AI Challenge Competition Simulator, Competition Simulator, Simulator |
