vrx_2023 perception_task

Task 3: Perception

Summary

In this task, the vehicle remains in a fixed location and markers will appear in the field of view. The objective is to use perceptive sensors to identify the markers and report their locations.

How to Run

Step 1: Launch the example

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

Step 2: Subscribe to the relevant topics and view images

• View the camera feeds from the front of the WAM-V:

ros2 run rqt_image_view rqt_image_view --ros-args --remap image:=/wamv/sensors/cameras/middle_right_camera/image_raw

• 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

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

• Publish landmark identification and localization solutions as a geometry_msgs/msg/PoseStamped message to the /vrx/perception/landmark topic. (Example: ros2 topic pub -1 /vrx/perception/landmark geometry_msgs/PoseStamped '{header: {stamp: now, frame_id: "mb_marker_buoy_red"}, pose: {position: {x: -33.7227024, y: 150.67402097, z: 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

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