vrx_2023 acoustic_perception_task
An underwater acoustic beacon broadcasts range, bearing and elevation indicating its position relative to the USV, with noise. The objective of the task is to navigate to the beacon (within 1 m) as quickly as possible.
ros2 launch vrx_gz competition.launch.py world:=acoustic_perception_task
- The acoustic beacon advertises the range, bearing and elevation from the WAM-V. Subscribe to its topic (given as a ros_gz_interfaces::msg:: ParamVec message) via:
ros2 topic echo /wamv/pingers/pinger/range_bearing
- For the timeout counter and your current score, subscribe to the
/vrx/task/infotopic:
ros2 topic echo /vrx/task/info
- In order to complete the task, you can manually drive the WAM-V towards the beacon with a gamepad:
ros2 launch vrx_gz usv_joy_teleop.launch
The overall performance for each run is scored based on the time it takes for the WAM-V to reach the beacon location.
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