System Requirements

Software package versions

This section describes library versions required for SubT. You can verify the state of your local system using the dpkg -l command. For example, to see the version of ignition-gazebo installed on your system run:

dpkg -l | grep ignition-gazebo

Or, to see all the ignition libraries:

dpkg -l | grep ignition*

Note: ROS Melodic is used for all SubT Circuits and the final.

Tunnel, Urban, and Cave Circuits

• ign-gazebo2
• ign-launch1
• ign-physics1
• ign-math6
• ign-rendering2
• ign-sensors2
• sdformat8
• ros-melodic-ros1-ign0

Recommended system setup

In order to run SubT we recommend your computer has:

• Modern multi-core CPU, e.g. Intel Core i5
• 8 GB of RAM
• Discrete GPU Graphics Card with 4GB of memory, e.g. NVIDIA GTX 650
• Ubuntu Desktop 18.04 Bionic (64-bit)
• Ignition Blueprint
• ROS Melodic
• nvidia-docker2

The get started guide details the recommended process for installing Ignition, ROS, and SubT.

We also recommend having a gamepad for testing when driving the default robots around in the simulated world. In the examples we use a Logitech F310 (available in the US here and here).