InterLeagueChallenge
From RoboCup
Inter League Challenge 2009
The goal of the the Interleage- Challenge is that teams can easier start to use real robots in the rescue league after they implemented robust algorithms in the simulation.
For this purpose measurements were collected with on Wednesday July 1th a Matilda (the red robot standing between simulation and robot arena in Graz) in the Rescue Robot arena (the maze) of the RoboCup 2009 in Graz.
I drove the entire maze while going up and down all the ramps and rolls. For an impression, look in this web album. The logfile now contains data from two laser range finders (one horizontal and one vertical), and data from an IMU.
The two lasers (Hokuyo URG) have the following specification:
Num ranges: 682 Field of view: 240 Deg Angular resolution: 0.35 Deg Maximal Range 5 Meters
The IMU data provides yaw, roll, and pitch. The yaw angle comes from
the gyroscope (integrated over time).
I uploaded the logfile and a Player for it. When you execute the player you will have exactly the same as the USARSim server. So all you have to do is to connect to this server and run your mapping algorithm.
I would like everyone to provide me a file containing each line the estimated pose of the robot and timestamp:
x, y, th, timestamp,
where x,y, are in meters, th in rad, and timestamp in seconds. Please note that the timestamp has to be according to the timestamp of the original data and not of your PC's current time!
The player can be found at:
- matildaInterface
- (succesfully build with g++-4.1.2 under Linux Fedora Core 8)
The logfile can be found at:
- RoboCup2009-logfile (83.3Mb)
I would like to collect the results at Friday July 3th, 2009.
Thank you very much for your support,
