Skip to content

vrx_2022 perception_task

crvogt edited this page Aug 18, 2021 · 8 revisions

Task 3: Perception

Summary

In this task, the vehicle remains in a fixed location and markers will appear in the field of view (see this video for a demonstration of the expected behavior). The objective is to use perceptive sensors to identify the markers and report their locations.

How to Run

Step 1: Launch the example

roslaunch vrx_gazebo perception_task.launch

Step 2: Subscribe to the relevant topics and view images

  • View the camera feeds from the front of the WAM-V:
rosrun rqt_gui rqt_gui --perspective-file ~/vrx_ws/src/vrx/vrx_gazebo/config/front_stereo.perspective
  • For the timeout counter and your current score, subscribe to the /vrx/task/info topic:
rostopic echo /vrx/task/info

Step 3: Complete the task

  • Trials will begin. Identify the type and location of the markers that appear during each trial.

  • Publish landmark identification and localization solutions as a geographic_msgs/GeoPoseStamped message to the /vrx/perception/landmark topic. (Example: rostopic pub -1 /vrx/perception/landmark geographic_msgs/GeoPoseStamped '{header: {stamp: now, frame_id: "red_mark"}, pose: {position: {latitude: -33.7227024, longitude: 150.67402097, altitude: 0.0}}}'

Notes:

  • Each trial will last for 5 seconds
  • Solutions must be submitted before the end of the trial
  • Only the first submission for each trial will be considered
  • Further details on scoring can be found by exploring the perception_scoring_plugin found here.
Clone this wiki locally