Demos

Demos#

This page provides instructions for running ARIAC demo scenarios to help you get familiar with the competition environment. The demos can be run either through the ARIAC App or directly from the terminal.

Note

Before running any demos, ensure you have followed the setup instructions on the startup page.

Running with the App#

The ARIAC App provides an interface for configuring and running trials.

Configuration#

The home page of the ARIAC App is where you configure all the settings needed for a competition run. This configuration page allows you to set up trials, team parameters, database storage, and testing options before starting a run:

Setting

Description

Trial Config

Defines the competition scenario and tasks

Team Config

Specifies robot configurations and team settings

Database

SQLite database for storing results and scoring

Cheats

Testing shortcuts to start at different competition stages

Trial Configuration#

The trial config defines the competition scenario. For demos, use the pregenerated config file:

../_images/select_trial_config.gif

Steps:

  1. Click the “Select” button in the Trial section

  2. Navigate to the trial config file using the dialog

  3. Use the arrow button (top right) to go up directories if needed

  4. Select the appropriate file based on your setup (see table below)

Setup Type

File Path

Docker

/team_ws/src/example_team/config/trials/LHAF9835.yaml

Local

~/ariac_ws/src/ariac_example_team/example_team/config/trials/LHAF9835.yaml

Team Configuration#

The team config specifies robot settings and team parameters:

../_images/select_team_config.gif

Steps:

  1. Click the “Select” button in the Team Config section

  2. Navigate to the team config file using the dialog

  3. Use the arrow button (top right) to go up directories if needed

  4. Select the appropriate file based on your setup (see table below)

Setup Type

File Path

Docker

/team_ws/src/example_team/config/example_team_config.yaml

Local

~/ariac_ws/src/ariac_example_team/example_team/config/example_team_config.yaml

Database Setup#

The ARIAC database stores scoring information and results. While optional for running the environment, it’s required for viewing demo results.

../_images/create_db.gif

Steps to create a database:

  1. Click the “Create” button in the Database section

  2. Navigate to your desired parent directory using the file dialog

  3. Select the target directory where you want to save the database

  4. Click “OK” to create the database

Note

The database location doesn’t affect functionality - choose any convenient location.

Cheats#

For testing purposes, cheats have been included to start the environment at different stages of the competition:

Number

Cheat Option

Description

1

Cells in voltage testers

Pre-places cells in voltage testing stations

2

Kit on AGV

Places a complete kit on AGV1

3

Kits on AGVs

Places kits on multiple AGVs

4

High priority kit

Creates a high-priority kit scenario

5

Partial module

Starts with partially assembled modules

6

Module

Provides complete modules

7

Flipped module

Creates flipped module scenarios

8

Module with welds

Includes welded module scenarios

Running the Demos#

Dummy Inspection Demo#

../_images/dummy_inspection.gif

Overview: Demonstrates inspection conveyor control and sensor-based reporting by controlling the cell feed on the inspection conveyor and submitting dummy inspection reports using break-beam sensor data.

Steps to run:

  1. Configure trial and team configs (see sections above)

  2. No cheat selection required

  3. Click “Confirm” to open the run page

  4. Press the green “START RUN” button

  5. In the “Team Process” section:

    • Package dropdown: Select “example_team”

    • File dropdown: Select “dummy_inspection”

  6. Press the arrow button next to the generated command

Move Robots Demo#

../_images/move_robots.gif

Overview: Demonstrates basic robot motion control across multiple robots by creating MoveIt nodes for all five robots and executing simultaneous linear motions.

Steps to run:

  1. Configure trial and team configs

  2. No cheat selection required

  3. Click “Confirm” to open the run page

  4. Press the green “START RUN” button

  5. In the “Team Process” section:

    • Package dropdown: Select “example_team”

    • File dropdown: Select “move_robots”

  6. Press the arrow button next to the generated command

Pick from Voltage Tester Demo#

../_images/pick_from_tester.gif

Overview: Demonstrates cell manipulation and recycling operations by using inspection robot 2 to pick a cell from the voltage tester and drop it in the recycling bin.

Steps to run:

  1. Configure trial and team configs

  2. Cheat Selection: Select “Cells in voltage testers” from the dropdown

  3. Click “Confirm” to open the run page

  4. Press the green “START RUN” button

  5. In the “Team Process” section:

    • Package dropdown: Select “example_team”

    • File dropdown: Select “pick_from_tester”

  6. Press the arrow button next to the generated command

Submit Kit Demo#

../_images/submit_kit_db.gif

Overview: Demonstrates AGV movement and kit submission workflow by moving AGV1 to the shipping station and submitting a complete kit.

Steps to run:

  1. Configure trial and team configs

  2. Cheat Selection: Select “Kit on AGV” from the dropdown

  3. Click “Confirm” to open the run page

  4. Press the green “START RUN” button

  5. In the “Team Process” section:

    • Package dropdown: Select “example_team”

    • File dropdown: Select “submit_kit”

  6. Press the arrow button next to the generated command

Running with the Terminal#

For advanced users or automation purposes, demos can be run directly from the terminal. This approach requires two separate terminal sessions.

Important

Local Installation Setup

If running locally (not Docker), source the setup files in both terminals:

source /opt/ros/jazzy/setup.bash
source ~/ariac_ws/install/setup.bash

Dummy Inspection#

Overview: Demonstrates inspection conveyor control and sensor-based reporting by controlling the cell feed on the inspection conveyor and submitting dummy inspection reports using break-beam sensor data.

Terminal 1 - Start Environment:

Docker:

ros2 launch ariac_gz ariac.launch.py \
  user_config:=/team_ws/src/example_team/config/example_team_config.yaml \
  trial_config:=/team_ws/src/example_team/config/trials/LHAF9835.yaml

Local:

ros2 launch ariac_gz ariac.launch.py \
  trial_config:=~/ariac_ws/src/ariac_example_team/example_team/config/trials/LHAF9835.yaml \
  user_config:=~/ariac_ws/src/ariac_example_team/example_team/config/example_team_config.yaml

Terminal 2 - Run Demo:

ros2 run example_team dummy_inspection

Move Robots#

Overview: Demonstrates basic robot motion control across multiple robots by creating MoveIt nodes for all five robots and executing simultaneous linear motions.

Terminal 1 - Start Environment:

Docker:

ros2 launch ariac_gz ariac.launch.py \
  user_config:=/team_ws/src/example_team/config/example_team_config.yaml \
  trial_config:=/team_ws/src/example_team/config/trials/LHAF9835.yaml

Local:

ros2 launch ariac_gz ariac.launch.py \
  trial_config:=~/ariac_ws/src/ariac_example_team/example_team/config/trials/LHAF9835.yaml \
  user_config:=~/ariac_ws/src/ariac_example_team/example_team/config/example_team_config.yaml

Terminal 2 - Run Demo:

ros2 run example_team move_robots

Pick from Voltage Tester#

Overview: Demonstrates cell manipulation and recycling operations by using inspection robot 2 to pick a cell from the voltage tester and drop it in the recycling bin.

Terminal 1 - Start Environment:

Docker:

ros2 launch ariac_gz ariac.launch.py \
  user_config:=/team_ws/src/example_team/config/example_team_config.yaml \
  trial_config:=/team_ws/src/example_team/config/trials/LHAF9835.yaml \
  cheat_selection:=1

Local:

ros2 launch ariac_gz ariac.launch.py \
  trial_config:=~/ariac_ws/src/ariac_example_team/example_team/config/trials/LHAF9835.yaml \
  user_config:=~/ariac_ws/src/ariac_example_team/example_team/config/example_team_config.yaml \
  cheat_selection:=1

Terminal 2 - Run Demo:

ros2 run example_team pick_from_tester

Submit Kit#

Overview: Demonstrates AGV movement and kit submission workflow by moving AGV1 to the shipping station and submitting a complete kit.

Terminal 1 - Start Environment:

Docker:

ros2 launch ariac_gz ariac.launch.py \
  user_config:=/team_ws/src/example_team/config/example_team_config.yaml \
  trial_config:=/team_ws/src/example_team/config/trials/LHAF9835.yaml \
  cheat_selection:=2

Local:

ros2 launch ariac_gz ariac.launch.py \
  trial_config:=~/ariac_ws/src/ariac_example_team/example_team/config/trials/LHAF9835.yaml \
  user_config:=~/ariac_ws/src/ariac_example_team/example_team/config/example_team_config.yaml \
  cheat_selection:=2

Terminal 2 - Run Demo:

ros2 run example_team submit_kit
Contents