Tank tutorial

This tutorial will see you creating a simulation to operate the Tank, one of the sample models supplied with Choreonoid, using a gamepad (joystick). The tutorial spans from Step 1 to Step 6 and involves executing these steps in sequential fashion to learn about how to create a basic simulation.

• Step 1: Creating a simulation project
  • Launching Choreonoid
  • Creating a world item
  • Importing the Tank model
  • Importing the ground model
  • Creating a simulator item
  • Setting properties
  • Saving a project
  • Launching a simulation
  • Stopping a simulation
• Step 2: Implementing a controller
  • Controller format
  • Implementing the “TurretController1” controller
  • Creating a project directory
  • Building the controller
  • CMakeLists.txt notation
  • Controller compilation
  • Controller item creation
  • Setting the controller body
  • Launching a simulation
  • How this implementation works
    • The SimpleController Class
    • Implementing the initialize function
    • Implementing the control function
    • Factory function definitions
• Step 3: Controlling the gun turret with a gamepad
  • Gamepad setup
  • Virtual joystick view setup
  • Controller source code
  • Controller compilation
  • Swapping controllers
  • Gun turret operation
  • How this implementation works
• Step 4: Controlling the crawlers
  • Simplified Tank model crawler
  • Simplified crawler controller
  • Deploying the controller
  • Operating the controller
  • How this implementation works
• Step 5: Controlling the lights
  • Environment settings
    • Changing the scene renderer
    • Changing the environment model
    • Changing the scene settings
  • Light controllers
  • Deploying the controller
  • Controlling the light
  • How this implementation works
• Step 6: Simulating and polling camera images
  • Camera devices
  • Changing cameras in the Scene View
  • Simulating camera images
  • Controller source code
  • Deploying the controller
  • Polling and displaying camera images
  • How this implementation works

This tutorial presumes that the process is invoked on Ubuntu Linux, so you should endeavor to use the same OS. The source code itself will work on other operating systems, but as with Choreonoid itself, the compilation method may differ slightly.

Note

The project and source code files created in this tutorial are stored in the /sample/tutorial/Tank subdirectory of the Choreonoid source directory.