vrx_2022 gymkhana_task

Task 5: Acoustic Beacon Localization, Channel Navigation and Obstacle Avoidance

Coming soon

Summary : This is a combination of the first three basic tasks. In the first portion, the vehicle traverses a channel marked by pairs of colored buoys, to arrive at a gate. The vehicle then passes through the gate to enter the second portion. In the second portion, the vehicle searches for an underwater acoustic pinger marking the location of a black box. The vehicle navigates to the pinger and holds station as close as possible to the pinger.

1. Start the example:

   roslaunch vrx_gazebo gymkhana.launch
   

2. Subscribe to the task-specific topics provided by the gymkhana scoring plugin:
   • Top-level task status has the timeout and final score
     • rostopic echo /vrx/task/info [FIX: Does not exist right now]
     • Note that even though the gymkhana_channel and gymkhana_blackbox portions each has its own task/info topics, the final timeout and score go by the top-level topic.
   • The navigation channel portion has no specific topics. However, Gazebo messages such as [Msg] New gate crossed! and [Msg] Course completed! will be printed to the terminal, if you launch the task with argument extra_gazebo_args:=--verbose
   • The black box acoustic pinger publishes a distance and two angles, with noise
     • /vrx/sensors/pingers/pinger/range_bearing
     • You should use the acoustic pinger to find the position of the blackbox
   • Though the station-keeping scoring plugin publishes the absolute goal pose, you should not use this for localization. Use the acoustic pinger instead.
     • You should not use the ground truth goal, though it is published by the scoring plugin (as a geographic_msgs/GeoPoseStamped message): rostopic echo /vorc/gymkhana_blackbox/goal
     • Pose error: rostopic echo /vrx/gymkhana_blackbox/pose_error
     • Root mean square error: rostopic echo /vrx/gymkhana_blackbox/rms_error