Scoring

After launching all the nodes in this project, the robot will go through the different cycles and then generate a score. Your score is simply the total time it took the robot to plan and execute a path from start to goal. The clock starts right after the object is lifted from the start pose and stops whenever your robot reaches the goal pose. On the hardware system, your code will be run three times, with the median time selected as your reported score.

Things to always keep in mind while planning and executing a path:

• Do not exceed 8 minutes for planning plus execution - this will result in a failed run.
• Do not send any invalid pose - this will result in a failure and your code will be immediately aborted!
• Always call the Move service before moving to a new pose.