WRS 2025 Pre-Competition

This section explains how to set up the competition environment for the WRS 2024 Pre-Competition. This feature is designed to automatically load competition environments and place robot models. To use this feature, the package found here is required.

Loading the Competition Environment (Basic)

Launch Choreonoid with the following command.

If you are using Choreonoid in a ROS 2 environment:

$ ros2 run choreonoid_ros choreonoid ~/ros2_ws/src/choreonoid/ext/WRS2024PRE/registration/registration.yaml --wrs-util <mission_name>

If you are using Choreonoid standalone (e.g., within choreonoid/build):

$ ./bin/choreonoid ../ext/WRS2024PRE/registration/registration.yaml --wrs-util <mission_name>

The arguments that can be specified for <mission_name> are as follows:

Argument

Details

M1-1

Loads the environment for Competition M1 (Area 1 only) and places AizuSpider for the AGX simulator. AizuSpider subscribes to the /joy topic of ROS 2.

M1-2

Loads the environment for Competition M1 (Area 2 only) and places AizuSpider for the AGX simulator. AizuSpider subscribes to the /joy topic of ROS 2.

M2

Loads the environment for Competition M2 (Areas 1 to 4). Robots are not placed with this argument.

M2-A1 to M2-A4

Loads specific areas of Competition M2. Robots are not placed with these arguments.

Loading the Competition Environment (Advanced)

This section explains the procedure for placing your own custom robot model.

  1. Copying the robot model

  2. Creating a project

  3. Creating a YAML file

  4. Launching Choreonoid

Copying the Robot Model

  1. Create a directory (e.g., model_<team_name>) under choreonoid/ext/WRS2024PRE/model and copy your robot files into it.

  2. Rebuild Choreonoid. If using ROS 2, you may need to add the --cmake-clean-cache option for new files to be recognized.

  3. Verify that the directory exists in the install (ROS 2) or build/share (Standalone) directory.

Creating a Project

  1. Launch Choreonoid and load your custom robot model from the installed/built share directory (not the source directory).

  2. Set up all necessary Simple Controllers and items.

  3. Important: If publishing sensor data (cameras, etc.) in ROS 2, add a BodyROS2 item as a child of the robot model.

  4. Create a directory (e.g., project_<team_name>) under ext/WRS2024PRE/project and save your project (.cnoid) inside.

  5. Rebuild Choreonoid again to ensure the project file is deployed.

Editing a YAML File

Use registration_test.yaml as a template. Copy and rename it (e.g., registration_<team_name>.yaml).

Rewrite the second line as follows:

robot_list: &RobotList [ <Directory_Name>/<Project_Name_Without_Extension> ]

Example:

robot_list: &RobotList [ project_team1/my_robot ]

Key YAML Parameters:

Parameter

Meaning

name

The identifier used for the <mission_name> argument.

robot_project

Projects are loaded in order; the first is placed on the left, the second on the right.

start_position

Specifies the initial coordinates [x, y, z] in meters.

enable_ros

If true, automatically adds a Joy subscriber (robot 1: /joy, robot 2: /joy2).

Launching Choreonoid

Launch command:

$ ros2 run choreonoid_ros choreonoid <path/to/yaml> --wrs-util <mission_name>

Note: Please pay close attention to the order of the arguments. If the robot's position is misaligned, adjust the start_position parameter in your YAML file.

Loading the Competition Environment (Qualifiers and Finals)

To load the official qualifier/final environments, use the following specific YAML files:

Qualifiers (2024/10/04):

$ ros2 run choreonoid_ros choreonoid ~/ros2_ws/src/choreonoid/ext/WRS2024PRE/registration/registration_20241004.yaml

Finals (2024/10/05):

$ ros2 run choreonoid_ros choreonoid ~/ros2_ws/src/choreonoid/ext/WRS2024PRE/registration/registration_20241005.yaml

Post-launch: Select an area from the WRSUtil bar combo box and click the "Open Project" button.