SINGABOAT-VRX | Virtual RobotX (VRX) Competition

COMPETITION: Virtual RobotX (VRX) Competition 2022


INSTITUTE: Nanyang Technological University, Singapore

MEMBERS: Tanmay Samak, Chinmay Samak and Chern Peng Lee

ADVISOR: Dr. Ming Xie


  1. Robot Operating System (ROS) – Tested with ROS Noetic Ninjemys on Ubuntu 20.04.4 LTS (Focal Fossa).
  2. Virtual RobotX (VRX) Simulation Environment – Included as vrx directory with this SINGABOAT-VRX repository.
  3. Python3 Dependencies – Listed in requirements.txt file of this SINGABOAT-VRX repository. These can be simply installed using the following command:
    $ pip3 install -r requirements.txt


  1. Clone this SINGABOAT-VRX repository:
    $ git clone
  2. Make a directory VRX_Workspace to act as your catkin workspace for VRX Competition.
    $ mkdir -p VRX_Workspace/src/
  3. Move the SINGABOAT-VRX repository to the source space (src) of your VRX_Workspace.
    $ mv ~/SINGABOAT-VRX ~/VRX_Workspace/src/
  4. Build the packages within your VRX_Workspace.
    $ cd ~/VRX_Workspace$ catkin_make
  5. Source the setup.bash file of your VRX_Workspace.
    $ echo "source /home/$USER/VRX_Workspace/devel/setup.bash" >> ~/.bashrc$ source ~/.bashrc


Launch SINGABOAT-VRX solution(s) for VRX Competition.

$ roslaunch singaboat_vrx <TASK_NAME>.launch$ roslaunch singaboat_vrx singaboat_station_keeping.launch$ roslaunch singaboat_vrx singaboat_wayfinding.launch$ roslaunch singaboat_vrx singaboat_scene_perception.launch$ roslaunch singaboat_vrx singaboat_semantic_navigation.launch$ roslaunch singaboat_vrx singaboat_gymkhana_challenge.launch$ roslaunch singaboat_vrx singaboat_scan_dock_deliver.launch


The docker container image(s) containing all the source code as well as dependencies is available on Docker Hub.


View Github