vrx_2023 wayfinding_task

Task 2: Wayfinding

Summary

Navigate through each of the published waypoints, such that vehicle achieves, as closely as possible, the positions and orientations specified.

How to Run

Step 1: Launch the example

ros2 launch vrx_gz competition.launch.py world:=wayfinding_task

Step 2: Subscribe to relevant topics

• After starting the example, subscribe to the task-specific topics provided by the wayfinding scoring plugin.
  • The list of waypoints (given as a geometry_msgs/msg/PoseArray message):

rost2 opic echo /vrx/wayfinding/waypoints

• For the timeout counter and your current score, subscribe to the /vrx/task/info topic:

ros2 topic echo /vrx/task/info

Step 3: Complete the task

• In order to complete the task, you can manually drive and orient the WAM-V to each of the waypoint positions with either a gamepad:

ros2 launch vrx_gz usv_joy_teleop.launch

For more guidance and information, check out the Teleop tutorial.

• Keep track of your minimum errors for each waypoint so far,

ros2 topic echo /vrx/wayfinding/min_errors

• and the mean of the minimum errors:

ros2 topic echo /vrx/wayfinding/mean_error