tutorials

Tutorials

We recommend following the tutorials in order as each one builds off the last. At the end of these tutorials you will be familiar with Gazebo, ROS, and how to use VRX.

Introduction to the VRX Simulation Environment

Getting Started with VRX

How to install and run the VRX environment.

• Overview
• Choose Installation Method
• Prepare Your System
• Alternative: Prepare Your Docker Container
• Installing VRX
• Running VRX

Getting Around the VRX Environment

Some simple tutorials for interacting with VRX.

• Overview
• Driving the WAM-V
• Thruster Articulation*
• Adding Course Elements
• Using the Acoustic Pinger
• Visualizing with Rviz*

Customizing the WAM-V (Beginner)

How to create your own thruster and component configurations.

• Overview
• Using the Default WAM-V Configuration
• Creating an "Empty" WAM-V
• generate_wamv.launch.py
• Customizing the Thruster Configuration
• Customizing WAM-V Components

Customizing the WAM-V (Intermediate)

How to specify custom dynamics and propulsion characteristics (under construction)

• WAM-V Hydrodynamics and Propulsion Characteristics

Customizing Environmental Factors

How to specify wind and wave behavior, fog and ambient light.

• Overview
• Adjusting Wind Parameters
• Adjusting Wave Parameters
• Adjusting Fog Parameters
• Adjusting Ambient Light

RoboBoat

RoboBoat users

How to use VRX if you are a RoboBoat user.

• Overview
• Running the RoboBoat example world
• Teleoperate your vehicle
• Customize your vehicle

VRX Competition 2023

How to Participate

An explanation of the phases of VRX Competition and submission guidelines.

• Overview
• Phase 1: Hello World
• Phase 2: Dress Rehearsal
  • Phase 2 Practice Worlds
• Phase 3: VRX Challenge
• Submission Process
• WAMV Compliance
• Validation
• Testing

How to Practice

A breakdown of tasks for the VRX 2023 Competition.

• Overview
• Task 1: Stationkeeping
• Task 2: Wayfinding
• Task 3: Perception
• Task 4: Acoustic Perception
• Task 5: Wildlife Encounter and Avoid
• Task 6: Follow the Path
• Task 7: Acoustic Tracking
• Task 8: Scan, Dock and Deliver

Package Your Submission with Docker

To participate in the VRX competition, teams must create a Docker image that runs their virtual autonomous system. The following sequences explain how to produce, interact with, and debug a competitor image.

Docker Orientation for VRX Competitors

A brief explanation of Docker images and containers, and how they relate to the VRX competition.

Creating a Competitor Image

This sequence of tutorials explains how to create and interact with a competitor image.

• Image Creation Overview
• Preparation
• Interactive process using docker commit
• Scripted process using a Dockerfile
• Minimal Working Examples

Troubleshooting trial runs

This sequence of tutorials explains how to test and debug a competitor image.

• Troubleshooting Overview
• Troubleshooting Prerequisites
• Get basic debugging information
• Examine a running container
• Run your container manually
• Run a trial manually

Tutorials for Past VRX Events

VRX Competition 2022

Archived tutorials for tasks from VRX 2022.

RobotX Interactive Forum 2019

Overview and walk through of the hackathon challenge hosted in Singapore 2019.

VRX Competition 2019

Archived tutorials for tasks from VRX 2019.