vrx_2019 testing

Summary

This tutorial will allow you to verify that your submission is working as expected.

Prerequisites

We assume the following:

• You have a local installation of the vrx environment built from source according to the host-based installation_tutorial instructions (option 2).
• Docker is installed on your system.
• You have developed a solution to one or more VRX tasks.
• You have created a Docker image containing your solution and uploaded it to Docker hub.
• You have created the required files for a submission.
• You have forked and cloned the vrx-events repository to your home directory and added your files.
• You are running on a system with an Nvidia graphics card. If this is not the case, you can still test your submission by leaving out the -n option wherever it appears below. Note, however, that without an Nvidia card, the simulation is likely to run slower than real-time.

Prepare a local testing environment

1 . Change into the vrx_ws/src directory you created when installing vrx.

cd ~/vrx_ws/src

2 . Clone the vrx-docker repository.

git clone https://github.com/osrf/vrx-docker

This should create a new vrx-docker directory alongside the original vrx repository directory.

3 . Source your bash.setup file, change into the vrx-docker directory, and set the variable TEAM for later use:

source ~/vrx_ws/devel/setup.bash
cd vrx-docker
TEAM=<your_team_name>

Replace <your_team_name> with the team name you used when adding your submission files to the vrx-events directory.

4 . Copy your submission files (yaml config files and docker hub image name) from your local fork of the vrx-events repository to the vrx-docker/team_config folder. For example, if you are testing the submission files for the Phase 3 VRX Challenge in the vrx-events repository.

cp -R "~/vrx-events/2019/phase3_vrx_challenge/$TEAM" team_config/

4 . Build the vrx-server docker image (may take 30-60 minutes the first time):

./vrx_server/build_image.bash -n

Verify your dockerhub_image.txt file.

1 . Test that your dockerhub_image.txt file contains the name of a reachable docker image (and version):

#!bash
    
cat "team_config/$TEAM/dockerhub_image.txt" | xargs docker pull

2 . If the contents of the file are correct, docker should begin to pull your image. Once you have verified this is working, you can exit out of the pull using ctrl+c.

Check propulsion and sensor compliance.

1 . Run the prepare_team_wamv.bash script included with vrx-docker to set up your team's wamv configuration:

./prepare_team_wamv.bash "$TEAM"

Note that this will produce a REQUIRED process [wamv_config/wamv_generator-2] has died! message, which is expected.

2 . Check compliance:

cat "generated/team_generated/$TEAM/compliant.txt"

The output of the above should be true if your configuration passes compliance tests.

Verify your docker image is working

1 . Define a TASK variable to indicate the task you wish to test against.

TASK=stationkeeping

Other valid options include wayfinding, perception, nav_challenge, dock, and scan_and_dock.

2 . Build example task worlds using the prepare_task_trials.bash script included with vrx-docker:

./prepare_task_trials.bash $TASK

3 . Define a TRIAL variable to indicate which of the generated task worlds you would like to run.

TRIAL=0

4 . Use the run_trial.bash script to test your submission on the task and trial specified above:

./run_trial.bash -n $TEAM $TASK $TRIAL

This command will run your submission image and the vrx-server image at the same time and generate multiple log files which are saved in the vrx-docker/generated/logs directory.

5 . View your score for the task:

cat generated/logs/$TEAM/$TASK/$TRIAL/trial_score.txt

6 . See a replay of your system's performance on the task and verify that it behaved as you expected:

roslaunch vrx_gazebo playback.launch log_file:=`pwd`/generated/logs/$TEAM/$TASK/$TRIAL/gazebo-server/state.log