This task requires the system to track a heterogeneous set of moving animals representing animal life and plan an appropriate action according to the animal type. The system should plan and traverse a path that

• circles clockwise around platypus markers,
• circles counterclockwise around turtle markers, and
• avoids (i.e. remains at a distance of 10m from) crocodile markers.

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

The following ROS topics contain information relevant to this task:

/vrx/task/info
/vrx/wildlife/animalX/pose

with a separate pose topic for each animal in the world.

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

ros2 topic echo /vrx/task/info

To receive the location of each animal in spherical coordinates, subscribe to the /vrx/wildlife/animalX/pose topics of interest:

ros2 topic echo /vrx/wildlife/animal0/pose

for the first animal, and replacing "X" with sequential integers for each additional animal.

• Always stay 10 meters away from the crocodiles!
• Circumnavigate the platypus clockwise while staying within a 10 meter radius.
• Circumnavigate the turtles counterclockwise while staying within a 10 meter radius.

• If you hit an animal with the WAM-V, your current circumnavigation status is reset.
• The task finishes when all circumnavigable animals have been circumnavigated or the task timeouts.
• Your time bonus is always applied at the end of the task.
• For debugging purposes you can check the completion percentage in the console when you start circumnavigating an animal:

[ruby $(which gz) sim-1] [Dbg] [WildlifeScoringPlugin.cc:329] platypus::link Transition from NEVER_ENGAGED to ENGAGED
[ruby $(which gz) sim-1] [Dbg] [WildlifeScoringPlugin.cc:389] platypus::link Virtual gate incorrectly crossed counterclockwise! (0% completed)