vrx_2022 wayfinding_task - osrf/vrx GitHub Wiki
Navigate through each of the published waypoints, such that vehicle achieves, as closely as possible, the positions and orientations specified.
roslaunch vrx_gazebo wayfinding.launch
- 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
- 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