Submission deadline, instructions, stuff

[fpetric]

Dear teams,

the deadline for the simulation stage is nearing, and will be extended.

Submission deadline...

... is March 2nd, 23:59 AOE

What to submit

<team_name>_docker.zip

Where to submit

Sometime tomorrow, we will delete all files in the folders shared to you earlier. Please use this folder to upload your solution zip file.

Important

Create solution pane in session.yml and run all your code in that pane, leave other panes in tmux as originally defined.

Tag found notification

Once you find the AR tag, publish the location of the tag in the world frame on the topic target_found, with message type TargetInfo (std_msgs/Int64 for target ID and geometry_msgs/Point for location) from the icuas25_msgs package.

Mission end notification

Once your system concludes that it found all or most of the AR tags, all UAVs need to return to the base and you need to publish True to the topic /mission_done of type std_msgs/Bool. This message should be published only once, when all the UAVs are back in the base.

Evaluation procedure

We will download your submissions, check if they extract, build docker container and start your solution alongside our evaluation script. Your solution should check the number of flies and the max communication range, and world model to determine the scenario parameters. Your solution will be evaluated on several different worlds, with different complexity and max communication range. As mentioned earlier in a couple of discussions, these worlds will not be the same as the world you were provided for testing.

Evaluation script will be constantly monitoring the position of the UAVs, checking for collisions, leaving the flying area and monitoring the connectivity status of the system.

Additional remarks

• Make sure to create additional pane in session.yml for your nodes (it is easier for us to check if your code is running at all)
• When adding ros commands in the tmux pane, use waitFor<> etc. macros to wait for roscore or gazebo to appear, otherwise your nodes may not run
• Only launch your nodes by including them in session.yml file (do not launch them from start.sh script or any other script), we will use different start script and if your commands arenot in session.yml, they will not be started
• Make sure to printout something like Node started, running or similar upon launch of your code (the same reason as above, it is easier for us to check if it's working)
• Make sure your Python nodes have shebang line and are executable
• Do not change docker image and container name if possible

Time limits, penalties

Leaving the area, crashing into obstacles, and loss of connectivity will be strictly penalized.

Let us know if you have any other questions

[xbarto0f]

Hello,
is it possible to submit a finished project without submitting the initial debug project? Unfortunately we have not submitted the initial debug project, but we are still working on the final version.

[fpetric]

If you did not submit either intermediate or debug, you can submit but we cannot guarantee that we will have time to evaluate it (will try)

[pulak-gautam]

Could you give us the time limit (would it also be an environment variable?), we are planning to recall the drones if not able to scan completely within the time limit (since it was mentioned previously, we need to recall drones back to base at end mission).
Thanks

[fpetric]

We can have it specified, yes.

[pulak-gautam]

That'd be great! thank you

[Remek2GO]

What is the name of environment variable for time limit? Will it be in minutes?

[fpetric]

I think I sent in the email to team leads the info that the limit is 30 minutes, fixed.

[Remek2GO]

Yes, we have received an e-mail. Thank you for information.

[tanzhengo]

Is the /mission_done topic type std_msgs/msg/Bool ? or just std_msgs/Bool.

[fpetric]

I think in ROS terms, the type is std_msgs/Bool which you import from std_msgs.msg. I don't think there are two different bool msgs in std_msgs

[joohyuk95]

Our customized file after the build doesn't exist in the scripts. Where should we place custom file, and how should we modify Dockerfile?

[marijana23]

Hi you can put it either in scripts folder or to_copy folder and then use command COPY in dockerfile similar like this one... Watchout that you do not overwrite it with something.

The idea is that you keep the same structure of ros packages. If your code is in for example icuas25_competition package then you should put it also in the same folders (launch, config, scripts ) locally as they are in docker. This implies that you should then use COPY command in Dockerfile, and copy each folder where icuas25_competition is located in ros2_ws .