Tank Tutorial

In this tutorial, we will create a simulation to operate the “Tank” model, one of Choreonoid’s sample models, using a gamepad (joystick). The tutorial consists of 6 stages from Step 1 to Step 6, and by executing these in order, you can learn specifically how to implement basic simulations.

• Step 1: Creating a Simulation Project
  • Launching Choreonoid
  • Creating a World Item
  • Loading the Tank Model
  • Loading the Floor Model
  • Creating a Simulator Item
  • Setting Properties
  • Saving the Project
  • Running the Simulation
  • Stopping the Simulation
• Step 2: Creating and Introducing a Controller
  • About Controller Formats
  • Implementing the “TurretController1” Controller
  • How to Build Controllers
  • Creating the Project Directory
  • Writing CMakeLists.txt
  • Building the Controller
  • Introducing the Controller
    • Generating a Controller Item
    • Setting the Controller Module
  • Running the Simulation
  • Explanation of Implementation Details
    • SimpleController Class
    • Implementing the initialize Function
    • Implementing the control Function
    • Defining the Factory Function
• Step 3: Controlling the Gun Turret with a Gamepad
  • Preparing the Gamepad
  • Checking Gamepad Operation
    • For Ubuntu
    • For Windows 10
  • Preparing the Virtual Joystick View
  • Controller Source Code
  • Compiling the Controller
  • Replacing the Controller
  • Operating the Gun Turret
  • Explanation of Implementation Details
• Step 4: Controlling the Crawlers
  • The Tank Model’s Simplified Crawlers
  • Simplified Crawler Controller
  • Introducing the Controller
  • Operating the Crawlers
  • Explanation of Implementation Details
• Step 5: Controlling the Light
  • Environment Setup
    • Checking the Graphics Environment
    • Changing the Environment Model
    • Changing Scene Settings
  • Light Controller
  • Introducing the Controller
  • Operating the Light
  • Explanation of Implementation Details
• Step 6: Simulating and Obtaining Camera Images
  • Camera Device
  • Changing the Camera in the Scene View
  • Simulating Camera Images
  • Controller Source Code
  • Introducing the Controller
  • Obtaining and Displaying Camera Images
  • Explanation of Implementation Details

This tutorial is written assuming execution on Ubuntu Linux, so please proceed on Ubuntu Linux as a basic principle. While the source code itself is valid on other operating systems, the compilation method differs slightly, as with Choreonoid itself.

Note

The project and source code files created in this tutorial are stored under “sample/tutorial/Tank” in the Choreonoid source directory.