An underwater acoustic beacon broadcasts range, bearing and elevation indicating its position relative to the USV, with noise. The objective of the task is to navigate to the beacon (within 1 m) as quickly as possible.

ros2 launch vrx_gz competition.launch.py world:=acoustic_perception_task

• The acoustic beacon advertises the range, bearing and elevation from the WAM-V. Subscribe to its topic (given as a ros_gz_interfaces::msg:: ParamVec message) via:

ros2 topic echo /wamv/pingers/pinger/range_bearing

• For the timeout counter and your current score, subscribe to the /vrx/task/info topic:

ros2 topic echo /vrx/task/info

• In order to complete the task, you can manually drive the WAM-V towards the beacon with a gamepad:

ros2 launch vrx_gz usv_joy_teleop.launch

The overall performance for each run is scored based on the time it takes for the WAM-V to reach the beacon location.