The_Last_of_Us 2023

Artificial intelligence and robotics competition, SIMUROSOT ROBO CHANLLENGE ,The Last of Us 2023

Q/A

Feel free to ask questions imm.saeid@gmail.com

SIMUROSOT ROBO CHANLLENGE

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Tutorials, simulator environment models and rules:

https://drive.google.com/drive/folders/15u1_yyYWXcLnS4ySjulXfdNjZMhOPSgv?usp=share_link

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This is the The Last of Us 2023 competition: Simurosot RoboChallenge Simulation Platform

OS: ubuntu 16.04
note : It is strongly recommended not to install the OS on a(any) Virtual Machinet. Because it may cause problems.

ROS: Kinectic

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1. ROS:

You can go to: http://wiki.ros.org/kinetic/Installation/Ubuntu for how to download the ROS Kinetic version.
Here we copy some of the proceed below:

Note: This version of ROS(kinetic) ONLY supports Wily (Ubuntu 15.10), Xenial (Ubuntu 16.04) and Jessie (Debian 8) for debian packages.

1. Setup your sources.list

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

2. Setup your keys

sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

3. Installation

sudo apt-get update
sudo apt-get install ros-kinetic-desktop-full

4. Initialize rosdep

sudo rosdep init
rosdep update

5. Environment setup

echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

2. Turtlebot & Gazebo Package

sudo apt-get install ros-kinetic-turtlebot-gazebo

3. SIMUROSOT-ROBOCHALLENGE

3.1 Download this project

3.2 Add the modles

To create access. Terminal:

sudo nautilus

go to Compuetr => /usr/share/gazebo-7/models sub-directory. Copy the all models(folders) in the models folder of this repository to this directory(/usr/share/gazebo-7/models).

3.3 Run the program

python ./start.py 5 2

If you see the figure as follow, you are success.

4. File Explain

4.1 The file structure

./ros_scripts
├── how_to_run.py
├── robot.py
├── start.py
├── detect_face.py
└── world.world

4.2 detail explain for the file

1. start.py

This is the start-up script. When it is running, it will start all the necessary program. After start, the Turtlebot will act according to what defined in the how_to_run.py script.

2. how_to_run.py

This script define how the turtlebot act. There is only one function Run in this script, The function has a robot parameter, which is an object of class Robot. In this object, some act are define for manipulate the Turtlebot. The start.py script will be called by start-up script, and also tranfer the robot object.

3. robot.py

The script define a Robot class, which wrap some basic function for the manipulation of turtlebot.

set_move_speed(met_per_sec)　: Set the speed of turtlebot，dimension is m/s.

set_turn_speed(deg_per_sec)　: Set the rotate speed of turtlebot, dimension is degree/s.

go_forward(seconds)　　　　 : Let the turtlebot move for seconds seconds at the given speed.

turn_around(seconds)　　　　: Let the turtlebot turn around for seconds seconds at the given rotate speed.

get_image()　　　　　　　　: Get the current image from camera. The image contain the RGB information as a 2D matrix.

4. detect_face.py

This file is for detecting face images in the images received from the camera sensor.

5. world.world

This file define the enviroment which include play field and obstacles. It will be called by "start.py" script. We have defined some more testing enviroment in the world sub-directory. You can use them for testing.

4.3 More to do

The given demo is simple for beginners to start up. You can define more sophisticate function based on robot.move_cmd and robot.turn_cmd to set. And using robot.cmd_vel.publish(robot.move_cmd) to publish you manipulation. Such as simulatanious turn around and moving.