Competition Setup

Follow the given steps to setup the competition arena for your final video.

In your root folder download the competiton folder using the given command.

svn export https://github.com/shantanuparabumd/ENPM-662-Introduction-to-Robot-Modelling.git/trunk/templates/competition

Add the competition folder to your CMakeLists.txt file

install(DIRECTORY
    urdf
    meshes
    launch
    worlds
    competition
    DESTINATION share/${PROJECT_NAME}/
    )

Move to the competition folder and run the following command to copy the arena model to the Gazebo models location.

cd ~/test_ws/src/package-name/competition

cp -r arena/ ~/.gazebo/models

Download the competition.launch.py file to your launch folder by moving into the launch folder and running the below command.

svn export https://github.com/shantanuparabumd/ENPM-662-Introduction-to-Robot-Modelling.git/trunk/templates/template4/competition.launch.py

Make sure you change the package_name to name of your package whereever required.

Also,change the spawn location and orientation of your robot such that the robot is spawned on the track. These changes can be made in the spawn_robot_ros2.launch.py file. Note the orientation given in the below code snippet is a ideal location for robot spawnining you have to change it.

package_description = "windmill"

# Position and orientation
# [X, Y, Z]
position = [5.0, 5.0, 1.0]
# [Roll, Pitch, Yaw]
orientation = [0.0, 0.0, 0.0]

You can now build your package and launch the competiton using.

ros2 launch package_name competition.launch.py