Task 1C - Submission

Submission instructions for task 1C:

  • NOTE: All your tasks will be checked using a plagiarism software. If any submitted file is found to be plagiarised, e-Yantra reserves the right to disqualify the team.

  1. Upgrade your eyantra-autoeval package by running the command given below

    pip3 install -U eyantra-autoeval

  2. First launch the robot in gazebo as instructed before ros2 launch ebot_description ebot_gazebo_launch.py

  3. Now launch the bringup launch for Nav2 stack ros2 launch ebot_nav2 ebot_bringup_launch.py keep it running.

  4. Then open a new terminal and execute the auto eval script eyantra-autoeval evaluate --year 2023 --theme CL --task 1C.

  5. Wait for DATA COLLECTION STARTED FOR TASK 1C INFO to be shown on the terminal.

  6. Now, run your Python script to navigate the bot, and once the task is completed go to the autoeval terminal and use Ctrl + c key once which will generate a my_bag/my_bag_0.db3 bag file in the same directory (inside a folder named my_bag).

NOTE: You can verify the bag file duration by using the command ros2 bag info my_bag_0.db3 by navigating to the directory containing .db3 bag file. This is not the run time of your task but the bag file recording time.

  1. Now add your python script and rename it as nav2_cmd_task1c.py to the same directory and also add your map.pgm (It will be something you named while saving)

  2. Create a .zip file by selecting all three files i.e. Python, yaml, pgm and bag file. Take a look at the below .GIF to understand it better. (Note: Do not compress the whole folder)

  1. Once the zip is created, rename it as <CL#team_id_1C> (For example, if your team id is 1679, rename file as CL#1679_1C.zip) and submit on eYRC Portal - Task 1 by selecting option 1C.

Grading

This task will be graded out of 30

Maximum Marks - Marks: 30.00
Failed Task - Marks: 0.00

Formula

Task_1C_Marks = ([CNP1 + CNP2 + CNP3] * 7) + (MPS * 9)

CNP: Correct Navigation Pose -

  • The navigation pose correspondes to the three given poses which is marked on the map in Instrctions Section
  • The value for CNP1, CNP2 and CNP3 will be in binary format and corresponds to respective mark on the warehouse arena.
  • Allowed deviation from actual given pose: +-0.3 meter (pose error) and +-10 degrees(orientation error)
  • For example: if the bot reached P1 and P2 within error, and failed to reach P3 (either distance or orientation), the score will be CNP1=1, CNP2=1 and CNP3=0

MPS: Map Score -

  • Maximum map score: 9
  • It will be scored based on how well the map is constructed using SLAM
  • The map should be closed, continues and non-distored.
  • It will be scored using matching algorithms