Running Scenarios

The ros_scenario node publishes information about what kind of scenario your vessel is currently tasked with completing. To test systems, the accompanying config file can be edited.

scenario_type: 0 -> Situational Awareness scenario_type: 1 -> Docking scenario_type: 2 -> Maneuvering

In docking and maneuvering scenarios, the unity_x_coordinate and unity_z_coordinate communicate the position of the target that must be reached to complete the scenario. In for example docking scenarios, these parameters are set to the position of the dock in Unity.

The local_origin_latitude and _longitude are used to translate between local Unity coordinates and global latitude and longitude coordinates. These should not be changed.