ICRA 2023 quadruped competition simulation map

• Version 2.0.1

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Package summary

A repository for ICRA2023 Quadruped Robot Challenges. Used for build, test, and deployment.

• Maintainer status: maintained
• Maintainers
  • Jeongmin Jeon (nicky707@g.skku.edu)
  • Hyungpil Moon (hyungpil@g.skku.edu)
• Author
  • Jeongmin Jeon (nicky707@g.skku.edu)

Table of Contents

• Overview
• Installation methods
  • 1. ROS
  • 2. Dependencies
  • 3. Gazebo
  • 4. Tutorial

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Overview

• A repository for ICRA2023 Quadruped Robot Challenges. Used for build, test, and deployment.
• This repository provides a ROS URDF package for simulation map.
• You can download and check map overview from here.
• You can find information about the challenge on the notion page

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Installation methods

ROS must be installed.

1. ROS

Tested on ros-melodic and ros-noetic versions. ROS Install

2. Dependencies

sudo apt-get install ros-$ROS_DISTRO-xacro ros-$ROS_DISTRO-urdf ros-$ROS_DISTRO-urdf-tutorial
sudo apt-get install ros-$ROS_DISTRO-joint-state-publisher

3. Gazebo

sudo apt-get install ros-$ROS_DISTRO-gazebo-ros-pkgs ros-$ROS_DISTRO-gazebo-ros-control

4. Tutorial

clone the URDF package

cd $ROS_WORKSPACE
mkdir src
cd src
git clone https://github.com/rise-lab-skku/ICRA2023_Quadruped_Competition

build & install

cd ..
catkin_make

visualization with Rviz

roslaunch ICRA2023_Quadruped_Competition rviz.launch 

import urdf environment from gazebo

roslaunch ICRA2023_Quadruped_Competition gazebo_world.launch 

You can use the launch argument to select and load only maps of that difficulty level.

roslaunch ICRA2023_Quadruped_Competition gazebo_world.launch course:=hard # or easy

In this version, we only provide a method to import the urdf environment from gazebo simulation. If you want to use another simulator, import urdf/map.urdf directly