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fix #13 by adding circuit argument to launch #14

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fix #13 by adding circuit argument to launch #14

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2 changes: 1 addition & 1 deletion README.md
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Expand Up @@ -14,7 +14,7 @@ This repository holds a set of quick-start hello world tutorials for the DARPA S
* [Tutorial 2: Docker & SLAM](https://github.com/osrf/subt_hello_world/blob/master/posts/02_docker_and_slam.md)
* [Tutorial 3: Robot Perception](https://github.com/osrf/subt_hello_world/blob/master/posts/03_perception.md)
* [Tutorial 4: Navigation](https://github.com/osrf/subt_hello_world/blob/master/posts/04_navigation.md)
* [Tutorial 5; Communication](https://github.com/osrf/subt_hello_world/blob/master/posts/05_communications.md)
* [Tutorial 5: Communication](https://github.com/osrf/subt_hello_world/blob/master/posts/05_communications.md)


*Official SubT Resources*
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4 changes: 2 additions & 2 deletions docker/README.md
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Expand Up @@ -54,7 +54,7 @@ $ docker container kill <NAME_OF_CONTAINER>
The `dev` and `entry` docker containers are not meant for running SubT simulation environments (these containers do not have the simulation models downloaded). The `osrf/subt-virtual-testbed` image is meant for this. You can run a container based on this image that will start a simulation environment:
```
$ cd simulation_runner/
$ ./run.bash osrf/subt-virtual-testbed cave_circuit.ign worldName:=simple_cave_01 robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_3
$ ./run.bash osrf/subt-virtual-testbed cave_circuit.ign circuit:=cave worldName:=simple_cave_01 robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_3
```

Now, in another terminal, start a container from the dev image to run things like SLAM or navigation:
Expand All @@ -80,4 +80,4 @@ $ ./join.bash

# now run the following in the docker container shell
$ roslaunch subt_solution_launch cartographer.launch name:=X1
```
```
4 changes: 3 additions & 1 deletion posts/01_hello_world.md
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Expand Up @@ -110,6 +110,7 @@ Then, to execute the simulation environment, run:
```
./subt/docker/run.bash osrf/subt-virtual-testbed:latest \
cave_circuit.ign \
circuit:=cave \
worldName:=simple_cave_01 \
robotName1:=X1 \
robotConfig1:=X1_SENSOR_CONFIG_1
Expand All @@ -119,6 +120,7 @@ To expand on the arguments of this script:

* `osrf/subt_virtual-testbed:latest` - the name/version of the container from [DockerHub](https://hub.docker.com/r/osrf/subt-virtual-testbed)
* `cave_circuit.ign` - the Ignition-launch file for the cave simulation
* `circuit` - the name of the competition event (tunnel, urban, cave, or finals)
* `worldName` - the name of the world to launch (currently, there are three simple cave variants)
* `robotName` - the name of the first robot performer in the team
* `robotConfig` - the configuration of the first robot performer in the team (robots can be found on the [SubT Tech Repo](https://subtchallenge.world/openrobotics/fuel/collections/SubT%20Tech%20Repo) with details on the [Robot Wiki](https://github.com/osrf/subt/wiki/robots))
Expand Down Expand Up @@ -298,4 +300,4 @@ If you like to participate or explore more, here are some helpful resources:

---

**Distribution Statement "A" (Approved for Public Release, Distribution Unlimited)**
**Distribution Statement "A" (Approved for Public Release, Distribution Unlimited)**
4 changes: 3 additions & 1 deletion posts/02_docker_and_slam.md
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Expand Up @@ -138,6 +138,7 @@ You can verify this by running the simulation environment and the solution conta
$ cd ~/subt_hello_world/docker/simulation_runner
$ ./run.bash osrf/subt-virtual-testbed:latest \
cave_circuit.ign \
circuit:=cave \
worldName:=simple_cave_01 \
robotName1:=X1 \
robotConfig1:=X1_SENSOR_CONFIG_3
Expand Down Expand Up @@ -342,6 +343,7 @@ $ ./build_dev_image.bash
$ cd simulation_runner/
$ ./run.bash osrf/subt-virtual-testbed:latest \
cave_circuit.ign \
circuit:=cave \
worldName:=simple_cave_01 \
robotName1:=X1 \
robotConfig1:=X1_SENSOR_CONFIG_3
Expand Down Expand Up @@ -417,4 +419,4 @@ If you'd like to start learning more about how `darknet_ros` works, feel free to

---

**Distribution Statement "A" (Approved for Public Release, Distribution Unlimited)**
**Distribution Statement "A" (Approved for Public Release, Distribution Unlimited)**
2 changes: 2 additions & 0 deletions posts/03_perception.md
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Expand Up @@ -113,6 +113,7 @@ Let's use the [Husky](https://github.com/osrf/subt/wiki/Robots) robot since it h
$ cd ~/subt_hello_world/docker/simulation_runner
$ ./run.bash osrf/subt-virtual-testbed:latest \
cave_circuit.ign \
circuit:=cave \
worldName:=simple_cave_01 \
robotName1:=X1 \
robotConfig1:=COSTAR_HUSKY_SENSOR_CONFIG_1
Expand Down Expand Up @@ -576,6 +577,7 @@ First, start the SubT Simulator. Let's use the Husky robot again since it has a
$ cd ~/subt_hello_world/docker/simulation_runner
$ ./run.bash osrf/subt-virtual-testbed:latest \
cave_circuit.ign \
circuit:=cave \
worldName:=simple_cave_01 \
robotName1:=X1 \
robotConfig1:=COSTAR_HUSKY_SENSOR_CONFIG_1
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2 changes: 1 addition & 1 deletion posts/04_navigation.md
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Expand Up @@ -79,7 +79,7 @@ the costmaps in RViz, simply check the top level box in displays.
```
# Start a simulator
$ cd ~/subt_hello_world/docker/simulation_runner
$ ./run.bash osrf/subt-virtual-testbed:latest cave_circuit.ign worldName:=cave_qual robotName1:=X1 robotConfig1:=COSTAR_HUSKY_SENSOR_CONFIG_1
$ ./run.bash osrf/subt-virtual-testbed:latest cave_circuit.ign circuit:=cave worldName:=cave_qual robotName1:=X1 robotConfig1:=COSTAR_HUSKY_SENSOR_CONFIG_1

# Run the navigation stack in a solution container
$ cd ~/subt_hello_world/docker
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6 changes: 3 additions & 3 deletions posts/05_communications.md
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Expand Up @@ -36,7 +36,7 @@ First, start a simulation environment in the `cave_qual` world, using a robot w

```
$ cd ~/subt_hello_world/docker/simulation_runner
$ ./run.bash osrf/subt-virtual-testbed:latest cave_circuit.ign worldName:=cave_qual robotName1:=X1 robotConfig1:=COSTAR_HUSKY_SENSOR_CONFIG_1
$ ./run.bash osrf/subt-virtual-testbed:latest cave_circuit.ign circuit:=cave worldName:=cave_qual robotName1:=X1 robotConfig1:=COSTAR_HUSKY_SENSOR_CONFIG_1
```

Now, let's run the `detect_and_report_artifacts.launch` file that was introduced in the [perception post](./03_perception.md).
Expand Down Expand Up @@ -392,7 +392,7 @@ In this example, we're using `COSTAR_HUSKY_SENSOR_CONFIG_2`:

```
$ cd ~/subt_hello_world/docker/simulation_runner
$ ./run.bash osrf/subt-virtual-testbed:latest cave_circuit.ign worldName:=cave_qual robotName1:=X1 robotConfig1:=COSTAR_HUSKY_SENSOR_CONFIG_2
$ ./run.bash osrf/subt-virtual-testbed:latest cave_circuit.ign circuit:=cave worldName:=cave_qual robotName1:=X1 robotConfig1:=COSTAR_HUSKY_SENSOR_CONFIG_2
```

In order to drop a breadcrumb, we need to publish a message the the `/ROBOT_NAME/breadcrumb/deploy` topic.
Expand Down Expand Up @@ -420,7 +420,7 @@ We'll need to start a simulator with **two** robots this time:

```
$ cd ~/subt_hello_world/docker/simulation_runner
$ ./run.bash osrf/subt-virtual-testbed:latest cave_circuit.ign worldName:=cave_qual robotName1:=X1 robotConfig1:=COSTAR_HUSKY_SENSOR_CONFIG_2 robotName2:=X2 robotConfig2:=X2_SENSOR_CONFIG_1
$ ./run.bash osrf/subt-virtual-testbed:latest cave_circuit.ign circuit:=cave worldName:=cave_qual robotName1:=X1 robotConfig1:=COSTAR_HUSKY_SENSOR_CONFIG_2 robotName2:=X2 robotConfig2:=X2_SENSOR_CONFIG_1
```

Once everything loads, you should see two robots in the starting area.
Expand Down