VRX 2022: Task 2 Practice
Under construction: This tutorial is in the process of being updated for VRX 2022. For the VRX 2019 tutorial, see Phase 2 Task Practice 2019
The three example worlds provided for the Wayfinding task are as follows:
-
wayfinding0.world: Easy environment. Three waypoints, relatively close together. -
wayfinding1.world: Medium difficulty environment. Four waypoints, more widely dispersed. -
wayfinding2.world: Hard difficulty environment. Five waypoints in a more challenging arrangement.
See below for screenshots showing the arrangement of waypoints in each example world.
The waypoints (goal poses) for each trial are available via ROS topic:
rostopic echo /vrx/wayfinding/waypoints
The waypoint error metrics are also available, e.g.,
rostopic echo /vrx/wayfinding/min_errors
rostopic echo /vrx/wayfinding/mean_error
Note: As discussed in the current VRX Competition and Task Descriptions document, the following ROS API topics are only available for development/debugging, they will not be available to the team's software during scored runs of the competition.
/vrx/wayfinding/min_errors/vrx/wayfinding/mean_error
Easy environment. Three waypoints, relatively close together.
Medium difficulty environment. Four waypoints, more widely dispersed.
Hard difficulty environment. Five waypoints in a more challenging arrangement.
