vrx_2023 wildlife_task
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)
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