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vrx_2022 wildlife_task
M1chaelM edited this page Sep 10, 2021
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This task requires the system to track a heterogeneous set of moving animals representing animal life and plan an appropriate action according to the animal type. The system should plan and traverse a path that
- circles clockwise around platypus markers,
- circles counterclockwise around turtle markers, and
- avoids (i.e. remains at a distance of 10m from) crocodile markers.
roslaunch vrx_gazebo wildlife.launch
The following ROS topics contain information relevant to this task:
/vrx/task/info
/vrx/wildlife/animals/poses
For the timeout counter and your current score, subscribe to the /vrx/task/info
topic:
rostopic echo /vrx/task/info
To receive the location of each animal in spherical coordinates, subscribe to the /vrx/wildlife/animals/poses
topic:
rostopic echo /vrx/wildlife/animals/poses
- Always stay 10 meters away from the crocodiles!
- Circumnavigate the platypus clockwise while staying within a 10 meter radius.
- Circumnavigate the turtles counterclockwise while staying within a 10 meter radius.
- If you hit an animal with the WAM-V, your current circumnavigation status is reset.
- The task finishes when all circumnavigable animals have been circumnavigated or the task timeouts.
- Your time bonus is always applied at the end of the task.
- For debugging purposes you can launch the simulation with
roslaunch vrx_gazebo wildlife.launch extra_gazebo_args:="--verbose"
and you will see the completion percentage when you start circumnavigating an animal:
[Dbg] [wildlife_scoring_plugin.cc:191] [WildlifeScoringPlugin::Buoy] turtle_buoy::link Virtual gate crossed
counterclockwise! (25% completed)