vrx_2023 stationkeeping_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

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

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 geometry_msgs/msg/PoseStamped message):

ros2 topic echo /vrx/stationkeeping/goal

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

ros2 topic 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 a gamepad:

ros2 launch vrx_gz usv_joy_teleop.launch

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

ros2 topic echo /vrx/stationkeeping/pose_error

ros2 topic echo /vrx/stationkeeping/mean_pose_error

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