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Nate Koenig edited this page Apr 9, 2020 · 2 revisions

Virtual Testbed Roadmap

September 2018

Software version 1.0

Requirements

  • Ubuntu 18.04
  • ROS Melodic
  • Gazebo 9

Features

  • Tunnel environment
    • A set of tile-able tunnel segments.
    • A staging area with a tunnel entrance. The staging area designates where a team starts.
    • Two predefined configurations of the tunnel segments and staging area.
  • Sample cave and urban environments
    • A set of tileable cave and urban segments.
    • Two staging areas, one that is compatible with cave segments and another that is compatible with urban segments.
    • One preconfigured environment for each cave and urban.
  • Scoring and game mechanics plugin.
  • Parameterized launch files, demos, and documentation.
  • One medium and one small wheeled ground vehicle.
    • The medium wheeled vehicle is capable of carrying a small drone
    • Each vehicle will support multiple sensor configurations.
  • One medium and one small quadcopter.
    • The small vehicle can be mounted to a medium wheeled vehicle, and launched from the wheeled vehicle.
    • Each aerial vehicle will support multiple sensor configurations.
  • 1 360 degree lidar sensor similar to a velodyne.
    • Long range and short range
  • 1 planar lidar similar to a hokuyo.
    • Long range and short range
  • 1 color 2D camera sensor.
    • High resolution, and low resolution
  • 1 RGBD camera sensors
    • High resolution and low resolution
  • 1 IMU sensor.
  • Simple communication model that models RF communication.
  • Vehicle mounted flashlights and LEDs that are mounted on vehicles.
  • Simple battery model that will limit the runtime of a vehicle based.
  • Realistic lighting conditions based on lightmaps, and dynamic lighting using opengl and shaders.
  • Global wind model that does not take into account the environment models.

February 2019

Software Version 2.0

Requirements

Notes

Two packages for running the virtual testbed can be used

  1. subt_gazebo: Utilizes Gazebo 9, and is deprecated with the release of Software Version 2.0
  2. subt_ign: Utilizes Ignition Acropolis. This package will replace subt_gazebo in May 2019 with the release of Software Version 3.0

Features

The following features apply to both the subt_gazebo and subt_ign packages.

  • Communication model with plugin-based interface.
  • Additional communication models that include
    • Distance-based received power
      • Binary received power based on maximum range.
    • Log-normal received power
      • Log-normal fading based on range.
    • Visibility based power
      • Log-normal fading based on range with exponent set by visibility heuristic.
  • Cave environment models
  • Urban environment models

The following features are available when using the subt_ign package.

May 2019

Software Version 3.0

Requirements

Notes

The subt_gazebo package will no longer be available, being replaced by subt_ign. This software version will also mark feature freeze for the Tunnel Circuit event.

Features

  • Improved urban and cave environments
    • Additional segments will be available
    • Each segment will have improved material properties.
  • Improved wind model that can be localized to segments of an underground environment.
  • Improved communication model
  • Additional artifacts
  • Improved vehicle battery model
    • Rechargeable batteries
    • Incorporate torque
  • Additional sensors
    • Thermal camera
    • Oxygen/gas sensor
  • Particle effects such as smoke
  • Dynamic obstacles in SubT environments
  • Access to cloud-based simulation
  • Additional friction models
  • Visualization tools for model debugging
    • Inertia, center of mass, collision shape, joint, and contact visualizations
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