Scan, dock and deliver practice worlds

[caguero]

How to test it?

You can launch the three practice worlds with:

ros2 launch vrx_gz competition.launch.py world:=practice_2022_scan_dock_deliver0_task
ros2 launch vrx_gz competition.launch.py world:=practice_2022_scan_dock_deliver1_task
ros2 launch vrx_gz competition.launch.py world:=practice_2022_scan_dock_deliver1_task

Verify that the robotx color sequences are red-green-yellow, yellow-blue-red and yellow-red-green respectively.

Verify that you can see a red_rectangle, yellow_circle and a yellow_triangle respectively in one of the placards. The other placard symbols are not that relevant.

[caguero]

@M1chaelM , the environmental conditions have been updated. This PR is ready for review.

[M1chaelM]

I cannot fire the ball shooter using the "A" button. Is this a known deficiency?

[M1chaelM]

Color sequences and placards look good, and I'm able to score points docking the correct bay and reporting the correct color sequence.

I'm not sure how to fire the ball shooter. Running:

ros2 topic pub /wamv/shooters/ball_shooter/fire --once std_msgs/msg/Bool data:\ false\

returns the following repeated message:

Waiting for at least 1 matching subscription(s)...
Waiting for at least 1 matching subscription(s)...
Waiting for at least 1 matching subscription(s)...
...

Looking through the output of ros2 topic list, I find:

/wamv/shooters/ball_shooter/fire

but there does not seem to be any analogous topic listed in the output of gz topic -l.

[caguero]

Color sequences and placards look good, and I'm able to score points docking the correct bay and reporting the correct color sequence.

I'm not sure how to fire the ball shooter. Running:

ros2 topic pub /wamv/shooters/ball_shooter/fire --once std_msgs/msg/Bool data:\ false\

returns the following repeated message:

Waiting for at least 1 matching subscription(s)...
Waiting for at least 1 matching subscription(s)...
Waiting for at least 1 matching subscription(s)...
...

Looking through the output of ros2 topic list, I find:

/wamv/shooters/ball_shooter/fire

but there does not seem to be any analogous topic listed in the output of gz topic -l.

I think I fixed the ball shooter. The bridge wasn't properly created.

You can launch the ball now with:

ros2 topic pub --once /wamv/shooters/ball_shooter/fire std_msgs/Empty

[caguero]

I think I know what's going on with the keypad, I'll fix it after the release.

[caguero]

I think I know what's going on with the keypad, I'll fix it after the release.

Never mind, I also restored the ability to launch the ball with the keypad. If you do it programmatically, it should now be:

ros2 topic pub /wamv/shooters/ball_shooter/fire --once std_msgs/msg/Bool data:\ false\

[M1chaelM]

OK, I'm able to score 10 points for hitting the small target, but not getting anything for the large target even when I've definitely hit it:

I hit it 3-4 times, but the "Hit target!" message does not display to the console and the score doesn't change. Maybe the scoring plugin bounding boxes are not in the right place?

[caguero]

I hit it 3-4 times, but the "Hit target!" message does not display to the console and the score doesn't change. Maybe the scoring plugin bounding boxes are not in the right place?

Hmm, the activation areas look correct.

[caguero]

Hmm, the activation areas look correct.

I found a typo in the activation area of the big hole in placard #1. Could you give it a try again?

[M1chaelM]

OK, I think it's working, with the caveat that it seems like there's often 1 hit that doesn't get counted. Here's how I'm testing:

ros2 launch vrx_gz competition.launch.py world:=practice_2022_scan_dock_deliver0_task

• Wait for the scoring plugin to enter the OnRunning state.
• Pause the simulation.
• Edit the pose of the WAMV to teleport to x=-481.664, y=193.897
• Upause.
• Launch balls into the target.

Once when I did this I hit the target 4 times but only got credit for 3. The first hit was ignored. I'm not sure whether this problem could be created by the fact that I'm pausing, teleporting and unpausing.

I tried a second time and moved the WAMV around a little bit before firing. In the second run my first hit was scored, but the second hit was ignored.

If you have any ideas about why this is happening and / or a quick fix, then I can definitely test it again before we merge. Otherwise, since there's a possibility that the problem would not arise in normal use, maybe we should just document the issue and then go ahead with the merge.

[caguero]

OK, I think it's working, with the caveat that it seems like there's often 1 hit that doesn't get counted. Here's how I'm testing:

ros2 launch vrx_gz competition.launch.py world:=practice_2022_scan_dock_deliver0_task

• Wait for the scoring plugin to enter the OnRunning state.
• Pause the simulation.
• Edit the pose of the WAMV to teleport to x=-481.664, y=193.897
• Upause.
• Launch balls into the target.

Once when I did this I hit the target 4 times but only got credit for 3. The first hit was ignored. I'm not sure whether this problem could be created by the fact that I'm pausing, teleporting and unpausing.

I tried a second time and moved the WAMV around a little bit before firing. In the second run my first hit was scored, but the second hit was ignored.

If you have any ideas about why this is happening and / or a quick fix, then I can definitely test it again before we merge. Otherwise, since there's a possibility that the problem would not arise in normal use, maybe we should just document the issue and then go ahead with the merge.

No ideas right now and I don´t think it's related with the pause/unpause part.

[M1chaelM]

Do you want to keep working on it? Or write up an issue or merge? I'm ok with either.

[caguero]

Do you want to keep working on it? Or write up an issue or merge? I'm ok with either.

I don´t see the issue right now, I'm leaning towards merging it and continue looking at it after the initial relase.

[M1chaelM]

Ok, sounds good.