Task 8: Scan and Dock and Deliver

[cbrxyz]

Assignee

@andrew-aj

Deadline

No response

What needs to change?

From the VRX manual:

Capability: Given multiple docking bays (similar to the arrangement in the RobotX Challenge) the USV should be capable of deciding on the appropriate bay for docking, executing a safe and controlled docking maneuver and then exiting the dock. Additional points will be awarded for vehicles that can successfully propel a projectile through one of the two holes in the placard at the head of the correct docking bay. Implementation: This task makes use of virtual models of the “symbols” used in the 2016 and 2018 RobotX competitions3. The USV must demonstrate the ability to successfully dock in the bay identified by the placard symbol indicated by the scan-the-code buoy. The symbols may be red, green, or blue in color and may be in the shape of a circle, triangle, or cruciform (+) on a white background. Additionally, the placards will feature a pair of square target holes, one small and one large located above the symbol and outlined in black on a white background. The larger hole will be a square 0.5m on a side, and the smaller hole will be a square 0.25m on a side. A maximum simulation time is specified. To learn the target symbol, teams must read the color sequence from the scan-the-code buoy and report this color sequence via the ROS 2 API using the /vrx/scan_dock_deliver/color_sequence topic.. The color sequence of the scan-the-code buoy uniquely determines the color and shape of the placard symbol that indicates the correct docking bay using a constant mapping, as follows:

How would this task be tested?

1. Run the VRX trial software for task 8, and ensure that the correct dock is selected given the appropriate environment.

Contacts

• [ ] We need help from the mechanical team.
• [ ] We need help from the electrical team.
• [ ] We need help from Dr. Schwartz or other faculty.
• [ ] We need help from a company or an organization.
• [ ] We need help from another UF staff member or organization (ex, facilities).

[uf-mil-bot]

This issue has been closed because the VRX competition has completed.