ApproachObjectState

Context: As of this year, URC Rules specify two new waypoints during the Autonomy mission that require the Rover to detect and navigate toward two objects placed on the ground.

The 2 objects will have GNSS coordinates within the vicinity of the objects (<10 m). Autonomous detection of the tools will be required. The first object will be an orange rubber mallet. The second object will be a standard 1 L wide-mouthed plastic water bottle of unspecified color/markings (approximately 21.5 cm tall by 9 cm diameter).

Problem: We currently have the ApproachPostState, but this state only commands the rover towards a spotted fiducial target (AR tag).

Solution: Since we are also going to be traversing to objects, we will need to add another approach state specifically for the objects.

Interface: (Subject to change)

We will receive messages from perception:

DetectedObject.msg

DetectedObjectType type
float32 detection_confidence
float32 bearing
float32 distance

DetectedObjectType is like an enum and looks like this:

DetectedObjectType.msg

uint8 NO_OBJ=0
uint8 MALLET=1
uint8 WATER_BOTTLE=2

Rough Steps:

1. Look at outline of the state in ENGIN|MRover/Software/Auton/New States folder in the shared drive.