Simulation Resources
Within the tuos_simulations package there is an example arena which can be used to develop and test out your team's work for this task.
Info
Make sure you check for updates to the Course Repo to ensure that you have the most up-to-date version of this.
The simulation can be launched using the following ros2 launch command:
Warning
The location and orientation of obstacles will be different to those in this simulation!
By default, the robot will spawn into the arena in the orientation shown in the figure above, however you can test out different starting orientations for the robot by supplying an additional command line argument to the acs6121.launch.py file:
Where the value of X can be any orientation angle, in radians. Remember that for the assessment of this task, the robot will always be oriented perpendicular to one of the four outer arena walls at the start of the task, therefore only four yaw values are really relevant to you here:
yaw:= |
Orientation |
|---|---|
0.0 |
The robot is facing the Blue pillar when spawned (default) |
1.571 |
The robot is facing the Green pillar when spawned |
-1.571 |
The robot is facing the Red pillar when spawned |
3.142 |
The robot is facing the Yellow pillar when spawned |
Simulation vs the Real World¶
This simulation is provided as a way for you to develop your algorithms in simulation during the Weeks 5 & 6 labs, and to allow you to do some work on this assignment outside the lab sessions too. However, just because it works in simulation DOESN'T mean it will work in the real world!
Make sure you test things out thoroughly during the real-robot lab sessions in Weeks 8-11.