Task 4

[caguero]

How to test it:

1. Launch VORC with the world ready for the gymkhana task:

 roslaunch vorc_gazebo task_gymkhana.launch

2. Verify the output of the acoustic pinger:

rostopic echo /cora/sensors/pingers/pinger/range_bearing

You should see something like this:

---
header: 
  seq: 7
  stamp: 
    secs: 8
    nsecs: 259000000
  frame_id: "cora/pinger"
range: 141.901062012
bearing: 0.330635935068
elevation: -0.0557640381157
---

3. Now move the CoRa model next to the 116, -278 point (it's in the obstacle course). Your acoustic sensor should give you a much closer range:

---
header: 
  seq: 420
  stamp: 
    secs: 421
    nsecs: 672000000
  frame_id: "cora/pinger"
range: 14.0360584259
bearing: -0.902148127556
elevation: -0.335353553295
---

[caguero]

This install block was needed in CMakeLists.txt for me. It installs the Python nodes as executables so that the user doesn't need to manually chmod +x:

# Install all the executable nodes
catkin_install_python(
  PROGRAMS
    nodes/pinger_visualization.py
    nodes/set_pinger_position.py
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

Functionality as described in the post works for me. I don't know if anyone else has any comments on the obstacle course itself - @M1chaelM @bsb808 ?

Otherwise will approve on the CMakeLists.txt addition, and we can tweak things later.

Added in e8b5cd9