World Robot Summit 2018

At the World Robot Summit (WRS) 2018 robot event held in October 2018, robot competitions were also held in virtual environments simulated with Choreonoid. This competition was titled “Tunnel Disaster Response and Recovery Challenge” and was held as one of the competitions in the Infrastructure and Disaster Response category. (WRS hosted the World Robot Challenge (WRC) 2018, a robot competition consisting of four categories in total.)

This document compiles the technical information necessary for participating in this competition. The models and simulation settings required for the competition are included as Choreonoid samples, allowing even those who did not participate in the competition to try them out. These serve as valuable samples for learning practical applications of Choreonoid.

• Competition Overview
  • Event Information
  • Competition Rules
  • Simulator Used
  • Target Robots
  • Task Overview
  • Robot Operation
  • About Competition Simulation Samples
• Setting Up the Simulation Environment
  • Preparing the Simulation PC
  • Installing Git
  • Installing AGX Dynamics
  • Installing Choreonoid
  • Setting Up the Graphics Environment
  • Preparing a Gamepad
• Robot Models
  • Model Files
  • Standard Model Directory
  • WAREC-1
  • Double-Arm Construction Robot
  • Aizu Spider
  • Quadcopter
  • Notes on Model Creation/Modification
• Simulation Samples
  • Overview
  • Project Configuration and Loading
  • Running Task T1
  • About Tasks T2-T6
• Sample Controllers
  • Supported Gamepads
  • Aizu Spider Operation Method
  • Double-Arm Construction Robot Operation Method
  • Supplementary Notes
• Teleoperation sample using ROS
  • Installing ROS
  • Creating a Catkin workspace
  • Adding package source
  • Building the package
  • Running Choreonoid
  • Running the teleoperation samples
  • Remote communication using two PCs