# ICRA-RM-Sim2Real

**Repository Path**: RMUS/ICRA-RM-Sim2Real

## Basic Information

- **Project Name**: ICRA-RM-Sim2Real
- **Description**: Tutorial of ICRA RM Sim2Real
- **Primary Language**: Unknown
- **License**: MIT
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 30
- **Forks**: 6
- **Created**: 2022-02-20
- **Last Updated**: 2024-12-19

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# ICRA-RM-Sim2Real

[![Join the chat at https://gitter.im/ICRA-RM-Sim2Real/community](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/ICRA-RM-Sim2Real/community?utm_source=badge&utm_medium=badge&utm_content=badge)

![RoboMasterEP](./assets/RoboMasterEP.gif)

The RoboMaster EP chassis

![RMUS-playground](./assets/RMUS-playground.png)

The RMUS playground

This repository is dedicated to provide the essential information for developpers to participate the [RoboMaster University Sim2Real Challenge](https://air.tsinghua.edu.cn/robomaster/sim2real_icra22.html).

The github repo and gitee mirror are provided for various users:
- https://gitee.com/RMUS/ICRA-RM-Sim2Real/
- https://github.com/AIR-DISCOVER/ICRA-RM-Sim2Real

# ICRA-RM-Sim2Real Tutorials

![arch of the RMUS EP SIM2REAL system](./assets/arch-EP-sim2real.png)

The `RMUS SIM2REAL` system consists of the Server/Client two parts seperately, one is the server docker image to deploy the simulation environment and the other is the client docker image to deploy the user algorithm for the EP robot to connect the environment both for simulation and reality.

Non-Beginners: If you're already familiar enough with Linux+ROS+Habitat or earlier versions and only want to explore the new ICRA-RM-Sim2Real playground, you can go through the details of installation guide [here](./docker_client/sim2real-install-guide.md). However, going through all basic Entry Level tutorials is still recommended for all users to get exposed to new features.

If you are new to Linux: You may find it helpful to first do a quick tutorial on common command line tools for linux. A good one is [here](http://www.ee.surrey.ac.uk/Teaching/Unix/).

Hardware requirement: NVIDA GPU 1080+ with driver 470+ in need to support the `Sim2Real` environment.

Ubuntu `20.04` or later in need to support more convenient experience.

<!-- # Core Sim2Real Tutorials -->
## Entry Level

- [Installing the system](./docker_client/sim2real-install-guide.md)
- [Platform introduction](./tutorial-RMUS-EP.md#1-platform-introduction)
- Software stack
  - [Habitat](https://github.com/facebookresearch/habitat-sim)
  - [ROS](http://wiki.ros.org/ROS/Tutorials)
      <!-- - briefly introduction
      - SLAM -->
  - [ROS-X-Habitat](https://github.com/ericchen321/ros_x_habitat)
  - [Getting Started with the RoboMaster SDK - EP](https://robomaster-dev.readthedocs.io/en/latest/python_sdk/beginner_ep.html)
<!-- - Optional remote control -->
   <!-- log -->
   <!-- Judgement Score -->
<!-- - etc -->

## Intermediate Level

- Hands on the baseline
  - System introduction
    - [System installation](./docker_client/sim2real-install-guide.md)
  - [Functional modules](./tutorial-RMUS-EP.md)
    - [ROS interface](./tutorial-RMUS-EP.md#3-ros-interface)
    - [Map based on cartographer](./tutorial-RMUS-EP.md#41-map-based-on-cartographer)
      <!-- RTAB Navi -->
    - [Lidar based navigation cartographer and move_base](./tutorial-RMUS-EP.md#42-lider-navigation-based-on-cartographer-and-move_base)
    <!-- Digital CV -->
    <!-- box grasp/put -->
- the Judgement system
  - local
   <!-- blocks Nums in need -->
   <!-- report cpu high -->
   <!-- debug toolchain -->
   <!--     log -->
   <!--     rgb/depth log optional recording -->
  - online

## Challenge overiew

![FPV-RMUS](./assets/FPV-RMUS.gif)

The RoboMaster University Sim2Real Challenge (`Sim2Real`) at its core allows participants to win points by
rearranging mineral using fully automated RoboMaster EPs that have been modified officially. 

The match lasts for five minutes with a sim2real-based format, where robots rearrange minerals based on the information shown on the exchange tags to earn points. Participants will be ranked according to their total points won. 

![pick-ore](./assets/pick-ore.gif)

![place-ore](./assets/pick-ore.gif)

The objective of the challenge is to assess how well a program completed on a simulation platform can be operated in real application environments. 

Teams are required to develop and debug their algorithms in a simulator and submit their codes by the specified deadline. The official staff will deploy corresponding codes in physical robots of the same models to earrange minerals. 

Compared to other RoboMaster University events, this challenge does not require teams to build physical robots, allowing participants to focus entirely on algorithm design.

## Other resource

- The [ICRA2022 RoboMaster University Sim2Real Challenge (RMUS)](https://air.tsinghua.edu.cn/robomaster/sim2real_icra22.html)
  - [the RMUS rulebook](https://air.tsinghua.edu.cn/robomaster/RMUS2022_rules_manual.pdf)
  - [FAQ List](https://air.tsinghua.edu.cn/robomaster/FAQ_List.pdf) [CN](https://air.tsinghua.edu.cn/robomaster/FAQ_List_Chinese.pdf)
  - [the Vision Markers on the Cube](https://dl.djicdn.com/downloads/robomaster-s1/20190620/RoboMaster_S1_Vision_Markers_44pcs_15_15cm_updated.pdf)
- Docker
- welcome to submit Issues
- http://wiki.ros.org/ROS/Tutorials#Core_ROS_Tutorials

<!-- [中文版本](./README_CN.md) -->
Related docker repository
- https://hub.docker.com/repository/docker/rmus2022/

<!-- [README of the sim2real agent](./docker_sim2real/README.md) -->

# Reference

1. [ROS-X-Habitat: Bridging the ROS Ecosystem with Embodied AI](https://arxiv.org/abs/2109.07703)
   - https://github.com/ericchen321/ros_x_habitat
2. https://nvidia.github.io/nvidia-docker/
3. [How to Train Your [Dragon] Embodied Agent (with AI Habitat)](https://aihabitat.org/tutorial/2020/)
4. https://github.com/facebookresearch/habitat-lab
5. https://github.com/ros/dynamic_reconfigure