Perception task

[mabelzhang]

Just adding the launch file and world file for the perception task, so that @crvogt can get started on the two other tasks. Added a Tasks page in Wiki: https://github.com/osrf/vorc/wiki/Tasks Turns out this one wasn't tricky. Am I missing something?

The files are very similar to the VRX ones: https://github.com/osrf/vrx/blob/master/vrx_gazebo/launch/perception_task.launch https://github.com/osrf/vrx/blob/master/vrx_gazebo/worlds/perception_task.world.xacro There are corresponding files for the two other tasks as well (stationkeeping_task and wayfinding_task).

Currently, it's just using the VRX perception task scoring plugin as a tentative example https://github.com/osrf/vrx/blob/master/vrx_gazebo/src/perception_scoring_plugin.cc We can change it later.

Test with

$ roslaunch vorc_gazebo perception_task.launch 

@caguero Please check that the behavior is as intended since you are more familiar with what's supposed to happen.

Red & green buoys:

Black buoy:

[mabelzhang]

a9dadc6 and 8d8f713 added basic scoring plugin and perception scoring plugin. I decided to add these now rather than later, so that we can put topic name /vorc/task/info (as opposed to /vrx/*) in the Wiki. Note that they're built with vorc_ prefix in CMakeLists.txt to differentiate from the VRX ones, so that the SDF loads the right one.

Wiki page on Tasks has been added https://github.com/osrf/vorc/wiki/Tasks

[mabelzhang]

535fc52 should have addressed the inline feedback. Sensor positions are adjusted with z += 1, as the boat position has been lifted z += 1 in #4 .

Can we also move the buoys a bit further. They're very close.

How is this distance? I interpreted that you meant move them farther from the boat, or did you mean move the green one farther from the red one?

I wonder if we need to copy back the scoring plugin and the perception scoring plugin.

I copied the scoring plugins thinking we wanted different scoring for VORC. Do we want to just use the same scoring system as VRX? I can parameterize the topic names and delete the new files here if that's what we want.

[caguero]

I copied the scoring plugins thinking we wanted different scoring for VORC. Do we want to just use the same scoring system as VRX? I can parameterize the topic names and delete the new files here if that's what we want.

For now there's no need to have different scoring. If a specific task needs a custom scoring we can create a plugin for it but in this case I think we can reuse it 100%.

[caguero]

535fc52 should have addressed the inline feedback. Sensor positions are adjusted with z += 1, as the boat position has been lifted z += 1 in #4 .

Can we also move the buoys a bit further. They're very close.

How is this distance? I interpreted that you meant move them farther from the boat, or did you mean move the green one farther from the red one?

I wonder if we need to copy back the scoring plugin and the perception scoring plugin.

I copied the scoring plugins thinking we wanted different scoring for VORC. Do we want to just use the same scoring system as VRX? I can parameterize the topic names and delete the new files here if that's what we want.

[caguero]

How is this distance? I interpreted that you meant move them farther from the boat, or did you mean move the green one farther from the red one?

This is great, thanks!

[caguero]

Just waiting for reusing the scoring plugin from VRX.

[mabelzhang]

Just waiting for reusing the scoring plugin from VRX.

eb37c60 removes the C++ files and passes custom topic names to VRX. I just realized VRX scoring_plugin.cc already looks for custom task_info_topic and contact_debug_topic parameters in the SDF! Didn't look closely before.