Updates based on PR osrf#745

Signed-off-by: Nate Koenig <nate@openrobotics.org>
AlejoAsd · Jan 20, 2021 · 1436333 · 1436333
1 parent 41d6957
commit 1436333
Showing 12 changed files with 18 additions and 18 deletions.
diff --git a/API.md b/API.md
@@ -197,7 +197,7 @@ A marsupial detachment can be requested by publishing a ROS message on topic `/<
 This example spawns two marsupials:
 
 ```
-ign launch -v 4 cave_circuit.ign  robotName1:=Xa robotConfig1:=X1_SENSOR_CONFIG_1 robotName2:=Xb robotConfig2:=X3_SENSOR_CONFIG_1 robotName3:=Xc robotConfig3:=X1_SENSOR_CONFIG_1 robotName4:=Xd robotConfig4:=X3_SENSOR_CONFIG_1 marsupial1:=Xa:Xb marsupial2:=Xc:Xd`
+ign launch -v 4 competition.ign worldName:=simple_cave_01 circuit:=cave robotName1:=Xa robotConfig1:=X1_SENSOR_CONFIG_1 robotName2:=Xb robotConfig2:=X3_SENSOR_CONFIG_1 robotName3:=Xc robotConfig3:=X1_SENSOR_CONFIG_1 robotName4:=Xd robotConfig4:=X3_SENSOR_CONFIG_1 marsupial1:=Xa:Xb marsupial2:=Xc:Xd`
 ```
 
 To detach Xb, run:

diff --git a/Breadcrumbs-and-communication-visualization-tutorial.md b/Breadcrumbs-and-communication-visualization-tutorial.md
@@ -16,7 +16,7 @@ It's time to launch SubT spawning `X1` and `X2`. Note that we'll use `X1_SENSOR_
 ```
 cd ~/subt_ws/
 . install/setup.bash
-ign launch -v 4 cave_circuit.ign worldName:=simple_cave_01 robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_7 robotName2:=X2 robotConfig2:=X2_SENSOR_CONFIG_1
+ign launch -v 4 competition.ign worldName:=simple_cave_01 circuit:=cave robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_7 robotName2:=X2 robotConfig2:=X2_SENSOR_CONFIG_1
 ```
 
 Next, we're going to use the tool to visualize the communications. Open a new terminal and run:

diff --git a/Catkin-System-Setup.md b/Catkin-System-Setup.md
@@ -47,7 +47,7 @@ Before you start, make sure your computer satisfies the minimum [System Requirem
         source ~/subt_ws/install/setup.bash
 
         # Test installation
-        ign launch -v 4 tunnel_circuit_practice.ign worldName:=tunnel_circuit_practice_01 robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_1
+        ign launch -v 4 competition.ign worldName:=tunnel_circuit_practice_01 circuit:=tunnel robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_1
 
         **NOTE**: When the Ignition Virtual Tunnel Circuit is installed and launched for the first time, the GUI will show blank panels for a few minutes until the models are downloaded.
                   They are stored under the `~/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models` directory.

diff --git a/Custom Control.md b/Custom Control.md
@@ -9,7 +9,7 @@ This tutorial describes how to use `/subt/pose_from_artifact_origin` so the robo
 
     b. For SubT Docker image, launch it using the command below (RECOMMENDED):
 
-        ./run.bash osrf/subt-virtual-testbed tunnel_circuit_practice.ign robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_1
+        ./run.bash osrf/subt-virtual-testbed competition.ign worldName:=simple_cave_01 circuit:=cave robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_1
 
     After launching it, you should see the simulation start with a single robot in the staging area.
 

diff --git a/Docker System Setup.md b/Docker System Setup.md
@@ -16,7 +16,7 @@ Instructions to install the latest version of the SubT Virtual Simulator hosted
 
         chmod +x run.bash
 
-        ./run.bash osrf/subt-virtual-testbed tunnel_circuit_practice.ign worldName:=tunnel_circuit_practice_01 robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_1
+        ./run.bash osrf/subt-virtual-testbed competition.ign worldName:=tunnel_circuit_practice_01 circuit:=tunnel robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_1
 
 1. Terminal 2: Launch the teleop file
 

diff --git a/Example Setup.md b/Example Setup.md
@@ -25,7 +25,7 @@ We have created an example team composed of four different generic robots: a lar
         source /opt/ros/melodic/setup.bash
         source ~/subt_ws/install/setup.bash
 
-        ign launch -v 4 tunnel_circuit_practice.ign robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_1
+        ign launch -v 4 competition.ign worldName:=tunnel_circuit_practice_01 circuit:=tunnel robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_1
 
     **NOTE**: When you test with the joystick using the teleop.launch, you can ONLY use X1 / X2 / X3 / X4 as the robot name (e.g. `robotName1:=X1`). This does NOT apply to custom controllers, where you can use a custom name as long as it unique.
 

diff --git a/Marsupial-tutorial.md b/Marsupial-tutorial.md
@@ -7,7 +7,7 @@ See the [API](https://github.com/osrf/subt/wiki/api#marsupials) for instructions
 A marsupial vehicle can be defined by adding a `marsupialN=parent:child` parameter to your launch command. For example:
 
 ```
-ign launch -v 4 cave_circuit.ign worldName:=simple_cave_01 robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_1 robotName2:=X3 robotConfig2:=X3_SENSOR_CONFIG_1 marsupial1:=X1:X3 
+ign launch -v 4 competition.ign worldName:=simple_cave_01 circuit:=cave robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_1 robotName2:=X3 robotConfig2:=X3_SENSOR_CONFIG_1 marsupial1:=X1:X3 
 ```
 
 # Cloudsim deployment via REST call
@@ -22,4 +22,4 @@ curl -k -X POST --url https://cloudsim.ignitionrobotics.org/1.0/simulations -F n
 
 # Cloudsim deployment via the SubT Virtual Portal
 
-You can deploy a simulation on Cloudsim with a marsupial pair by selecting a valid parent robot (e.g., `X1` or `EXPLORER_R2`) in the “Robot type” field and filling in the name of the child robot in the "Marsupial Partner" field that appears. Click "Add", then create the child robot as a separate robot entry as usual. 
+You can deploy a simulation on Cloudsim with a marsupial pair by selecting a valid parent robot (e.g., `X1` or `EXPLORER_R2`) in the “Robot type” field and filling in the name of the child robot in the "Marsupial Partner" field that appears. Click "Add", then create the child robot as a separate robot entry as usual. 
diff --git a/RViz.md b/RViz.md
@@ -2,9 +2,9 @@ This tutorial will walk you through launching RViz and configuring it to visuali
 
 The tutorial assumes you have installed SubT according to the instructions in [Installation tutorials](https://github.com/osrf/subt/wiki/Get%20Started).
 
-1. Open a terminal and launch the Virtual STIX environment
+1. Open a terminal and launch a Cave environment
 
-        ign launch -v 4 tunnel_circuit_practice.ign robotName1:=X1_C1 robotConfig1:=X1_SENSOR_CONFIG_1
+        ign launch -v 4 competition.ign worldName:=simple_cave_01 circuit:=cave robotName1:=X1_C1 robotConfig1:=X1_SENSOR_CONFIG_1
 
 2. Open another terminal and run `rviz`
 

diff --git a/Team Configuration.md b/Team Configuration.md
@@ -10,15 +10,15 @@ To compose a team of robots, arguments need to be passed to the ign launch file.
 The command below shows how to spawn four robot types with their respective payload configurations:
 
 ```
-ign launch -v 4 tunnel_circuit_practice.ign robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_1 robotName2:=X2 robotConfig2:=X2_SENSOR_CONFIG_1 robotName3:=X3 robotConfig3:=X3_SENSOR_CONFIG_1 robotName4:=X4 robotConfig4:=X4_SENSOR_CONFIG_1
+ign launch -v 4 competition.ign worldName:=simple_cave_01 circuit:=cave robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_1 robotName2:=X2 robotConfig2:=X2_SENSOR_CONFIG_1 robotName3:=X3 robotConfig3:=X3_SENSOR_CONFIG_1 robotName4:=X4 robotConfig4:=X4_SENSOR_CONFIG_1
 ```
 
 ![MultiConfig.png](https://github.com/osrf/subt/wiki/images/multiconfig.png)
 
 The next example shows how to spawn two of the same robot configurations:
 
 ```
-ign launch -v 4 tunnel_circuit_practice.ign robotName1:=X1 robotConfig1:=X2_SENSOR_CONFIG_1 robotName2:=X2 robotConfig2:=X2_SENSOR_CONFIG_1
+ign launch -v 4 competition.ign worldName:=simple_cave_01 circuit:=cave robotName1:=X1 robotConfig1:=X2_SENSOR_CONFIG_1 robotName2:=X2 robotConfig2:=X2_SENSOR_CONFIG_1
 ```
 
 ![TwoSameConfig.png](https://github.com/osrf/subt/wiki/images/twosameconfig.png)
diff --git a/Team-Base-Station-tutorial.md b/Team-Base-Station-tutorial.md
@@ -5,7 +5,7 @@ A single zero cost and immobile Team Base Station can be deployed along with you
 A Team Base Station is specified on the command line using `robotNameN:=TEAMBASE robotConfigN:=TEAMBASE`. For example, if you want your first robot to be a Team Base Station then you could launch the `simple_cave_01` world using:
 
 ```
-ign launch cave_circuit.ign worldName:=simple_cave_01 robotName1:=TEAMBASE robotConfig1:=TEAMBASE
+ign launch competition.ign worldName:=simple_cave_01 circuit:=cave robotName1:=TEAMBASE robotConfig1:=TEAMBASE
 ```
 
 # Cloudsim deployment via REST call
@@ -20,4 +20,4 @@ curl -k -X POST --url https://cloudsim.ignitionrobotics.org/1.0/simulations -F n
 
 # Cloudsim deployment via the SubT Portal
 
-You can deploy a simulation on Cloudsim with a Team Base Station by selecting a zero-cost robot of type `TEAMBASE` in the “Robot type” field and filling in the Docker Image URL as usual. The "Robot name" field will be auto-filled as `TEAMBASE`, but may be changed to your desired name. Only one instance of this optional robot platform may be added to your robot team. 
+You can deploy a simulation on Cloudsim with a Team Base Station by selecting a zero-cost robot of type `TEAMBASE` in the “Robot type” field and filling in the Docker Image URL as usual. The "Robot name" field will be auto-filled as `TEAMBASE`, but may be changed to your desired name. Only one instance of this optional robot platform may be added to your robot team. 
diff --git a/World-Creation-Tutorial.md b/World-Creation-Tutorial.md
@@ -51,7 +51,7 @@ Familiarize yourself with the graphical interface by [reading up on the various
 
 You can start creating a world from scratch by running `ign gazebo -v 4`, and then inserting models from the [SubT Tech Repo](https://subtchallenge.world/openrobotics/fuel/collections/SubT%20Tech%20Repo). Click on a model you'd like to insert and use the `drag to simulator` button on the model's detail page. More information about model insertion can be found [here](https://ignitionrobotics.org/docs/dome/fuel_insert).
 
-Alternatively, you can launch an existing world and make modifications. Try launching a simple cave world to get started, such as `ign launch cave_circuit.ign worldName:=simple_cave_01`. Use the [model manipulation tools](https://ignitionrobotics.org/docs/dome/manipulating_models) to alter the configuration of the cave.
+Alternatively, you can launch an existing world and make modifications. Try launching a simple cave world to get started, such as `ign launch competition.ign worldName:=simple_cave_01 circuit:=cave`. Use the [model manipulation tools](https://ignitionrobotics.org/docs/dome/manipulating_models) to alter the configuration of the cave.
 
 When you are happy with your world, use the [hamburger button](https://en.wikipedia.org/wiki/Hamburger_button#:~:text=The%20hamburger%20button%2C%20so%20named,of%20a%20graphical%20user%20interface.) in the upper left to access the "Save World" option. Save your world into your catkin workspace in the `subt/subt_ign/worlds` directory. World files in this directory will be automatically installed when `catkin_make install` is run.
 
@@ -213,7 +213,7 @@ Now, to launch your world, you only have to rebuild your workspace and launch it
   cd ~/subt_ws/
   catkin_make install
   source ~/subt_ws/install/setup.bash
-  ign launch -v 4 cave_circuit.ign worldName:=my_new_world
+  ign launch -v 4 competition.ign worldName:=my_new_world circuit:=circuit_name
 ```
 
 Now you can test your autonomous robots in a custom underground world!

diff --git a/release_notes.md b/release_notes.md
@@ -309,8 +309,8 @@
 ### **2020-04-21**
 
 * Released [Cave Circuit Qualification world](https://github.com/osrf/subt/pull/405).
-    * To run using docker: `./run.bash subt_sim_entry cave_circuit.ign worldName:=cave_qual robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG1` using [run.bash](https://github.com/osrf/subt/blob/master/docker/run.bash).
-    * To run using catkin: `ign launch cave_circuit.ign worldName:=cave_qual robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG1`
+    * To run using docker: `./run.bash subt_sim_entry competition.ign worldName:=cave_qual circuit:=cave robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG1` using [run.bash](https://github.com/osrf/subt/blob/master/docker/run.bash).
+    * To run using catkin: `ign launch competition.ign worldName:=cave_qual circuit:=cave robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG1`
 * Released two new artifacts
   * [Climbing rope](https://subtchallenge.world/openrobotics/fuel/models/Climbing%20Rope)
   * [Climbing Helmet with Light](https://subtchallenge.world/openrobotics/fuel/models/Climbing%20Helmet%20With%20Light)