vrx_2023 wayfinding_task
Navigate through each of the published waypoints, such that vehicle achieves, as closely as possible, the positions and orientations specified.
ros2 launch vrx_gz competition.launch.py world:=wayfinding_task
- 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/infotopic:
ros2 topic echo /vrx/task/info
- 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
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