Detect the dock and execute a controlled docking maneuver in the appropriate gate. The system should detect the color sequence emitted by the scan-the-code buoy, as this color sequence dictates the correct docking gate. Additional points will be awarded for vehicles that can successfully propel a projectile through one of the two holes in the placard at the head of the correct docking bay.

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

The following ROS topics and services are used in this task:

/vrx/task/info
/wamv/shooters/ball_shooter/fire

/vrx/scan_dock_deliver/color_sequence

1. To see the timeout counter and your current score, subscribe to the /vrx/task/info topic:

   ros2 topic echo /vrx/task/info
   

2. To shoot a projectile from the ball shooter, publish a std_msgs/msgs/Bool message to the /wamv/shooters/ball_shooter/fire topic:

   ros2 topic pub /wamv/shooters/ball_shooter/fire std_msgs/msg/Bool "{data: 0}" --once
   

3. To report the scan-the-code color sequence, publish a ros_gz_interfaces/msg/StringVec to the /vrx/scan_dock_deliver/color_sequence topic:

   ros2 topic pub --once vrx/scan_dock_deliver/color_sequence ros_gz_interfaces/msg/StringVec "{data: ['red', 'green', 'blue']}"
   

• Get close to the scan-the-code buoy and report the correct color sequence.
• Identify the dock and the correct docking gate.
• Approach the correct gate and execute a smooth docking maneuver.
• Point to the right placard targets and shoot your projectiles.
• Exit the gate smoothly.

• Only four shots are allowed during this task. If you want to practice with unlimited shots remove the line <num_shots>4</num_shots> in wamv_gazebo/urdf/ball_shooter/ball_shooter.xacro and recompile VRX.
• Points are awarded for any successful docking maneuver, even in an incorrect gate.