Tutorials

1. Using Ignition Fortress: How to get started with SubT while using Ignition Fortress.

2. Hello World: A set of tutorials and components to get started with the DARPA SubT Challenge Virtual Competition.

3. Team Configuration: This tutorial describes how to choose robots to build your team.

4. Example Setup: A tutorial for controlling an example robot team in a tunnel environment using a joystick.

5. Custom Control: Basic example of a controller for a single robot (hint: this can be used as a reference for your team solution).

6. RViz: Using Rviz to visualize sensor data.

7. Artifacts Validator Tool: Tutorial for a tool to find and visualize artifacts in the practice worlds.

8. Connections Validator Tool: Tutorial for a tool to find and visualize connections in the practice worlds in order to find gaps.

9. Model Submission Process: Step-by-step guide on how to submit a robot model to request addition to the SubT Tech Repo.

10. Model Migration from Gazebo9 to Ignition Gazebo: Step-by-step guide on how to convert Gazebo9 models into a format that is compatible with Ignition Gazebo.

11. Battery Model: Description of how batteries are modeled in the SubT Simulator.

12. Communication Model: Description of how communication is modeled in the SubT Simulator.

13. Breadcrumbs and communication visualization: Step-by-step guide on how to deploy breadcrumbs and visualize their impact in the communications.

14. Team Base Station: How to use a Team Base Station in order to have a stationary model for compute and communication in the staging area.

15. Marsupial vehicles: How to use marsupial vehicles, where a quad-copter is mounted on top of a mobile base.

16. Rock falls: How to place rock falls for Cave Circuit worlds.

17. World Creation: How to create a world for SubT, including communication model support files and level generation.

18. Path Tracer: How to visualize robot paths from a log file in 3D.