VRX 2022: Task 6 Practice
The three example trials for this task have the same environmental and dock layout of Task 5: Dock, described above. In each example world a RoboX Light Buoy is added and the system must find the light buoy, read the code, and infer the correct dock from the light sequence.
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scan_and_dock0.world: Easy environment. Correct bay is the red_cross (color sequence is "red" "green" "blue") directly ahead of the WAM-V in its initial position. Light buoy is immediately visible. -
scan_and_dock1.world: Medium difficulty environment. Correct bay is the green_triangle. -
scan_and_dock2.world: Hard difficulty environment. The correct bay is red_triangle.
Additional points are awarded when correctly reporting the color sequence through the ROS service API. For example, for scan_and_dock0.world if you call the service with the correct color sequence:
rosservice call /vrx/scan_dock/color_sequence "red" "green" "blue"
- The service will return
success: True- the service returns this as long as the color sequence is valid (has three items, etc.) Even if the sequence is incorrect ,it will returnsuccess: True - In the Gazebo terminal stdout will report some debugging information, e.g.,
[ INFO] [1570143447.600102983, 12.694000000]: Received color sequence is correct. Additional points will be scored.
[Msg] Adding <10> points for correct reporting of color sequence
- The score will be incremented, which you can see with
rostopic echo /vrx/task/info
The VRX Tasks: Examples wiki provides general notes on the API and Docking Details wiki describes the how successful docking is determined and how the docking state is provided to stdout.