VRX 2022: Task 6 Practice

Task 6: Scan, Dock, and Deliver Practice Worlds

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.

• scan_dock_deliver0.world: Easy environment. Correct bay is the red_rectangle (color sequence is "red" "green" "yellow") directly ahead of the WAM-V in its initial position.
• scan_dock_deliver1.world: Medium difficulty environment. Correct bay is the yellow_circle.
• scan_dock_deliver2.world: Hard difficulty environment. The correct bay is yellow_triangle.

For each world, the placard targets keep the same position relative to the rest of the dock.

scan_and_dock0.world

scan_and_dock1.world

scan_and_dock2.world

Development and Debugging Recommendations

Additional points are awarded when correctly reporting the color sequence through the ROS service API. For example, for scan_dock_deliver0.world if you call the service with the correct color sequence:

rosservice call /vrx/scan_dock_deliver/color_sequence "red" "green" "yellow"

1. 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 return success: True
2. 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.

3. 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.