LTS - Space Resources Challenge 2018
This repository contains documentation for the LTS - Space Resources Challenge 2018 using the Erle Rover.
Sponsor by SpaceResources.lu Initiative
Requirements & Links
We have prepared a virtual machine for you to work with. This is the easiest way to get started with the simulation environment.
To run the virutal machine you will need:
- VirtualBox
- LTS Virtual Machine Image (4.6 GB) (Password of the default user is "lts")
Link to the youtube tutorials is here.
The Virtual Machine contains:
- Python 2
- ROS Indigo
- Gazebo (Simulator)
- Erle Rover (Official Documentation)
Getting Started
The main working directory is: ~/simulation/
1. Proxy
To run the simulation, we have to launch the proxies first.
Proxy Setup
Open the terminal and type the following commands:
source ~/simulation/ros_catkin_ws/devel/setup.bash
cd ~/simulation/ardupilot/APMrover2
../Tools/autotest/sim_vehicle.sh -j 4 -f Gazebo
param load ~/Tools/Frame_params/3DR_Rover.param
Proxy Mode
The proxy has multiple modes for the rover controller. We are interested in 2 modes.
To control the rover manually via the terminal run: param set SYSID_MYGCS 255
To control the rover remotely via the ROS Messages run: param set SYSID_MYGCS 1
2. Launch the simulator
Once the proxy is running, we can launch the simulation. Open a new terminal window/tab and run the following commands:
source ~/simulation/ros_catkin_ws/devel/setup.bash
roslaunch ardupilot_sitl_gazebo_plugin rover_spawn.launch
3. Run a Python Program
The proxy is running and the simulation is open. Now you can run a rover controller.
Open a third terminal window/tab and run the following command:
source ~/simulation/ros_catkin_ws/devel/setup.bash
After that, you are ready to run a controller.
There are a few examples in this virtual machine that you can run. They are located at:
~/simulation/ros_catkin_ws/src/gazebo_python_examples/erle_rover_explorer/scripts
Then, just run for example:
python rover_obstacle_avoidance.py
4. Stop the simulation
Stopping is easy: CTRL+C
until it stops.
5. Reset the simulation
If you want to reset the rover and the simulation to his initial state, you will have to:
- Cancel the process in the second terminal tab where the Gazebo simulator is running using
CTRL+C
- Run again
roslaunch ardupilot_sitl_gazebo_plugin rover_spawn.launch
How to write your own code
The easiest way to code your own controller is to create a new *.py
file in the scripts folder:
~/simulation/ros_catkin_ws/src/gazebo_python_examples/erle_rover_explorer/scripts
Submissions not later than 10th November 2018 23h00
Send your python code solution with your contact info to challenge@techschool.lu
Test your code on the real Rover end of November 2018 Workshop
Working submissions will be invited to test their code at the end of November 2018 workshop in Luxembourg City, and faster code solving the maze Wins a real Erle-Rover!!!
More about the Erle Rover
For more infor and support about the Erle Rover simulation visit the Erle Robotics forum at