vrx_2022 station_keeping_task

Task 1: Station Keeping

Summary

Navigate to the goal pose and hold station. The best solutions will minimize the difference between the goal pose and the actual pose of the vehicle over the duration of the task.

How to Run

Step 1: Launch the example

roslaunch vrx_gazebo station_keeping.launch 

Step 2: Subscribe to relevant topics

• After starting the example, subscribe to the task-specific topics provided by the station-keeping scoring plugin.
  • To view the station-keeping goal (given as a geographic_msgs/GeoPoseStamped message):

rostopic echo /vrx/station_keeping/goal

• 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

• In order to complete the task, you can manually drive the WAM-V to the goal and maintain that position with either a gamepad or keyboard:

roslaunch vrx_gazebo usv_joydrive.launch

roslaunch vrx_gazebo usv_keydrive.launch

• Keep track of your position error by subscribing to the following topics:

rostopic echo /vrx/station_keeping/pose_error

rostopic echo /vrx/station_keeping/mean_pose_error

Notes:

• To customize your WAM-V sensor and thruster configurations, see this tutorial