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DARPA Subterranean Challenge (SubT)

This repository contains software for the virtual track of the DARPA SubT Challenge. Within this repository you will find Gazebo simulation assets, ROS interfaces, support scripts and plugins, and documentation needed to compete in the SubT Virtual Challenge.


The following resources will help you get started using the SubT simulation software.


  1. Tutorials: Guides to help you get started.

  2. Documentation: Specifications of the DARPA Subterranean (SubT) Challenge and the software.

  3. Virtual Testbed Roadmap: The planned development roadmap for the Virtual Testbed.

  4. DARPA SubT Challenge Website (General information)

  5. SubT Community Forum

  6. The SubT issue tracker for submitting and following bugs, feature requests and enhancements