1.Introduction of vrep

The full name of v-rep is virtual robot experiment platform. V-rep is a robot simulator with integrated development environment, based on distributed control architecture: each object / model can be individually controlled through embedded scripts, plug-ins, ROS or bluezero nodes, remote API clients or customized solutions. This makes v-rep very versatile and suitable for multi robot applications. The controller can be written in C / C + +, python, Java, Lua, MATLAB, or octave. V-rep is used for rapid algorithm development, factory automation simulation, rapid prototype and verification, robot related education, remote monitoring, safety review, etc.

Including robot models provided by many robot companies:：

• ABB. There is however no link between ABB and V-REP
• KUKA Laboratories GmbH
• SICK AG
• Hibot
• K-Team
• Cubictek
• Neuronics
• Aldebaran
• IniLabs
• Robotiq
• Kinova Robotics
• Universal Robots
• Rethink Robotics
• Trossen Robotics
• Adept Technology
• Force Dimension
• On Robot ApS
• EVOL
• Blue Workforce

You can also import models designed by other design software:：

CAD : OBJ, STL, DXF, 3DS (Windows only), and Collada. 

Software introduction reference http://www.360doc.com/content/19/0630/12/32181961_845745728.shtml

2.Download and install virtual machine

Now we provide the virtual system files with vrep simulation environment, which are loaded by VirtualBox virtual machine, so that the participating teams can spend more time on development.

2.1Download VirtualBox

        Download website https://www.onlinedown.net/soft/82464.htm

        This version is 5.2.16.123759 Chinese version 64 bit. If the computer is not 64 bit, please download 32-bit version.

        VirtualBox is an open source virtual machine that is easy to use and free of charge. VirtualBox software is small in size, does not occupy too much memory when it is used, and is easy to operate. Users can easily create virtual machines.

2.2 Install virtualbox

        Download the installation package and get the EXE installation file after downloading. Double click the file to enter the VirtualBox virtual machine installation interface, as shown in the figure below. Click next to continue the installation.

Enter the VirtualBox virtual machine installation location selection interface, you can choose the default installation, click Next directly, the software will be installed in the system C disk by default, or click Browse to select the appropriate installation location, and then click next. (it is recommended that you choose a custom installation and choose another disk for installation. Disk C is the system disk. Too much software will slow down the computer.)

Enter the additional options interface of Chinese version of VirtualBox virtual machine, you can select the options in the interface according to your own needs, and click next after selection.

Enter the ready to install interface, as shown in the figure below, indicating that the network connection will be disconnected during the installation process, so you need to be ready before clicking the option below the interface to install.

The installation speed is very fast. You only need to wait for a short time to complete the installation. After the installation is completed, click the completion option at the bottom of the interface to close the installation interface and open the software.

Installation reference https://www.onlinedown.net/soft/82464.htm

3.Download virtual system files

        Virtual system download address：

https://robotimages.blob.core.chinacloudapi.cn/tsurace/virtualMachine.zip?sp=r&st=2020-05-28T01:58:20Z&se=2020-08-31T09:58:20Z&spr=https&sv=2019-10-10&sr=b&sig=nBLcnyXDf%2FJce5531lTbkS6yL9XDYyhliFMh9lGB%2BNc%3D

This file is about 16G in size. Please store it in a proper location. After downloading, you need to decompress it. After decompressing, the folder is shown below. The file size is about 17g. Please make sure there is enough space.

The competition official website will update the virtual machine image file from time to time. If the above link fails, please go to the official website to find the latest download link.

4.Virtual system file usage

4.1 Loading virtual system

       Open virtual machine VirtualBox

        Under the management menu, import the virtual computer. The file path is the path of the decompression file in the previous step,

4.2 Starting a virtual computer

        Double click the virtual computer or click start to start the computer

5.Demo demonstration of simulation software

After the previous step is completed, you can enter the Ubuntu system with the login password of 123123

5.1 Start simulation software

Right click on the desktop to open the first command terminal

Input the command roscore     

comment: the command need to be run first before running all ROS programs

Note: after the command is executed successfully, it can be minimized to the background

Open the second terminal

Input vrep       #Note: start vrep

Note: after the command is executed successfully, it can be minimized to the background

5.2 Loading competition scene and robots

Click file in the menu bar of vrep software and select the Open scene, as shown below:

Scene is under / home / Lin / code2 / roban / SRC / bodyhub / vrep. 1 scenario is named rb-c-e-x.x, where x is the version number. You should select the latest version on the official website. Please download the latest version on the official website and unzip it to this folder, as shown in the following figure. Select and open it：

Open the third terminal, input

cd ~/code2/roban         #Note: enter the roban folder

then input

source devel/setup.zsh                     #Notes: configure workspaces for refreshing the environment

roslaunch bodyhub bodyhub.launch sim:=true  #Note: the roslauch command is the run node and sets the sim variable parameter to true

Open the forth terminal, input

cd ~/code2/roban

then input

source devel/setup.zsh

rosrun imitation imitation_node       #Note: use the package name imination to run a package's imination directly_ Node node

5.3 Select simulation engine

After loading the scene, select another engine, as shown in the figure below. The engine is Newton

5.4 Open related nodes

Open the third terminal, input

cd ~/code2/roban         #Note: enter the roban folder

then input

source devel/setup.zsh                     #Notes: configure workspaces for refreshing the environment

roslaunch bodyhub bodyhub.launch sim:=true  #Note: the roslauch command is the run node and sets the sim variable parameter to true

Open the fourth terminal again, input

cd ~/code2/roban

then input

source devel/setup.zsh

rosrun imitation imitation_node       #Note: use the package name imination to run a package's imination directly_ Node node

5.5 Run demo program

        Note that this demo program is a python program, and other program languages need to be compiled into executable files by themselves

Open the new terminal again, input

cd ~/code2/roban

then input

source devel/setup.zsh
python ./src/actexecpackage/scripts/walking2.py    #Note: run the python program

此时仿真将开始运行

5.6 Write your own program

        Through step 3, you can see that the robot is walking slowly, and the environment and configuration are all OK here. You can refer to step 3 to rewrite the program or write your own robot program. If you have other problems, please contact event support.

6. Common errors

6.1 Unable to open virtual computer

       resolvent:

        Reboot and enter BIOS

        Select enable in virtualization and enable in VT I / O

6.2 About Vortex Studio

        Contestants should come by themselves https://www.cm-labs.com/vortex-studio Register for education license.