System Setup

The challenge is based on the Asynchronous Multi-Body Framework (AMBF) simulator, Version 2.0, along with the Surgical Robotics Challenge Assets. To install AMBF and the associated assets (including the launch file) on Linux, follow the detailed instructions here.

To summarize:

• Install appropriate version of ROS1 (e.g., Noetic on Ubuntu 20.04)
• Install the cv-bridge and image-transport ROS packages:

  apt-get install ros-<version>-cv-bridge ros-<version>-image-transport
  

• Clone the AMBF repository:

  git clone https://github.com/WPI-AIM/ambf.git
  

• Build the default AMBF branch (ambf-2.0) following the AMBF README
• Clone the Surgical Robotics Challenge Assets:

  git clone https://github.com/surgical-robotics-ai/surgical_robotics_challenge.git
  

• Install the default branch following the instructions in the README