vrx_2022 perception_task

Task 3: Perception

Summary

In this task, the vehicle remains in a fixed location and markers will appear in the field of view (see this video for a demonstration of the expected behavior). The objective is to use perceptive sensors to identify the markers and report their locations.

How to Run

Step 1: Launch the example

roslaunch vrx_gazebo perception_task.launch

Step 2: Subscribe to the relevant topics and view images

• View the camera feeds from the front of the WAM-V:

rosrun rqt_image_view rqt_image_view image:=/wamv/sensors/cameras/middle_right_camera/image_raw

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

rostopic echo /vrx/task/info

Step 3: Complete the task

• Trials will begin. Identify the type and location of the markers that appear during each trial.

• Publish landmark identification and localization solutions as a geographic_msgs/GeoPoseStamped message to the /vrx/perception/landmark topic. (Example: rostopic pub -1 /vrx/perception/landmark geographic_msgs/GeoPoseStamped '{header: {stamp: now, frame_id: "red_mark"}, pose: {position: {latitude: -33.7227024, longitude: 150.67402097, altitude: 0.0}}}'

Notes:

• Each trial will last for 5 seconds
• Solutions must be submitted before the end of the trial
• Only the first submission for each trial will be considered
• Further details on scoring can be found by exploring the perception_scoring_plugin found here.