vrx_2022 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

roslaunch vrx_gazebo wayfinding.launch 

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 geographic_msgs/GeoPath message):

rostopic echo /vrx/wayfinding/waypoints

• 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

• 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 or keyboard:

roslaunch vrx_gazebo usv_joydrive.launch

roslaunch vrx_gazebo usv_keydrive.launch

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

rostopic echo /vrx/wayfinding/min_errors

• and the mean of the minimum errors:

rostopic echo /vrx/wayfinding/mean_error

Notes

• You are encouraged to explore the scoring code, wayfinding_scoring_plugin, found here.