From 790c7ee25293ed796fa8341a1728f2922591200c Mon Sep 17 00:00:00 2001
From: Jessica Herman <jessica.herman@nps.edu>
Date: Wed, 21 Jun 2023 14:00:24 -0700
Subject: [PATCH 1/8] First commit, 2023 minimum working example

---
 mwes/2023/wamv_demo.py                        | 108 ++++++++++++++++++
 mwes/README.md                                |   6 +
 team_config/example_team/dockerhub_image.txt  |   2 +-
 .../example_team_2022/component_config.yaml   |  64 +++++++++++
 .../example_team_2022/dockerhub_image.txt     |   1 +
 .../example_team_2022/thruster_config.yaml    |  10 ++
 6 files changed, 190 insertions(+), 1 deletion(-)
 create mode 100644 mwes/2023/wamv_demo.py
 create mode 100644 team_config/example_team_2022/component_config.yaml
 create mode 100644 team_config/example_team_2022/dockerhub_image.txt
 create mode 100644 team_config/example_team_2022/thruster_config.yaml

diff --git a/mwes/2023/wamv_demo.py b/mwes/2023/wamv_demo.py
new file mode 100644
index 0000000..37ba4e6
--- /dev/null
+++ b/mwes/2023/wamv_demo.py
@@ -0,0 +1,108 @@
+import rclpy
+from rclpy.node import Node
+from ros_gz_interfaces.msg import ParamVec
+from std_msgs.msg import Float64
+from rclpy.qos import QoSProfile, QoSDurabilityPolicy
+from geometry_msgs.msg import PoseStamped
+
+class GhostShip(Node):
+    def __init__(self):
+        print('Starting node...')
+        super().__init__('ghost_ship')
+        self.task_type = ""
+        self.task_state = ""
+        self.task_sub = self.create_subscription(ParamVec, '/vrx/task/info', 
+                                                 self.taskCB, 10)
+        
+        pub_qos = QoSProfile(depth=1, 
+                             durability=QoSDurabilityPolicy.TRANSIENT_LOCAL)
+        self.right_thrust_pub = self.create_publisher(Float64, 
+                                                      '/wamv/thrusters/right/thrust', 
+                                                      qos_profile=pub_qos)
+        self.left_thrust_pub = self.create_publisher(Float64, 
+                                                     '/wamv/thrusters/left/thrust', 
+                                                     qos_profile=pub_qos)
+        self.thrust_msg = Float64()
+        self.thrust_msg.data = 30.0
+        self.loopCount = 0
+        
+        self.landmark_pub = self.create_publisher(PoseStamped, 
+                                                  '/vrx/perception/landmark', 
+                                                  qos_profile=pub_qos)
+        self.landmark_msg = PoseStamped()
+        self.landmark_msg.header.stamp = self.get_clock().now().to_msg()
+        self.landmark_msg.header.frame_id = 'mb_marker_buoy_red'
+        self.landmark_msg.pose.position.x = -33.7227024
+        self.landmark_msg.pose.position.y = 150.67402097
+        self.landmark_msg.pose.position.z = 0.0
+
+        self.create_timer(0.5, self.sendCmds)
+
+    def taskCB(self, msg):
+        task_info = msg.params
+        for p in task_info:
+            if p.name == 'name':
+                self.task_type = p.value .string_value
+            if p.name == 'state':
+                self.task_state = p.value.string_value
+
+    def moveForward(self):
+        self.right_thrust_pub.publish(self.thrust_msg)
+        self.left_thrust_pub.publish(self.thrust_msg)
+        self.loopCount += 1
+
+    def stop(self):
+        self.thrust_msg.data = 0.0
+        self.right_thrust_pub.publish(self.thrust_msg)
+        self.left_thrust_pub.publish(self.thrust_msg)
+
+    def publishBuoyLoc(self):
+        if self.loopCount > 10:
+            self.landmark_pub.publish(self.landmark_msg)
+            self.loopCount = 0
+        self.loopCount += 1
+
+
+
+    def sendCmds(self):
+        if rclpy.ok():
+            match self.task_type:
+                case "perception":
+                    if self.task_state == ("initial" or "ready"):
+                        print("Waiting for perception task to start...")
+                    elif self.task_state == "running":
+                        self.publishBuoyLoc()
+                    elif self.task_state == "finished":
+                        print("Task ended...")
+                        rclpy.shutdown()
+                case "stationkeeping":
+                    if self.task_state == ("initial" or "ready"):
+                        print("Waiting for stationkeeping task to start...")
+                    elif self.task_state == "running":
+                        if self.loopCount < 10:
+                            self.moveForward()
+                        else:
+                            self.stop()
+                    elif self.task_state == "finished":
+                        print("Task ended...")
+                        rclpy.shutdown()
+                case _:
+                    print(self.task_state)
+                    if self.task_state == ("initial" or "ready"):
+                        print("Waiting for default task to start...")
+                    elif self.task_state == "running":
+                        self.right_thrust_pub.publish(self.thrust_msg)
+                        self.left_thrust_pub.publish(self.thrust_msg)
+                    elif self.task_state == "finished":
+                        print("Task ended...")
+                        rclpy.shutdown()
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    ghost_ship = GhostShip()
+    rclpy.spin(ghost_ship)
+
+
+if __name__ == '__main__':
+    main()
\ No newline at end of file
diff --git a/mwes/README.md b/mwes/README.md
index e826061..0f4c8a8 100644
--- a/mwes/README.md
+++ b/mwes/README.md
@@ -19,3 +19,9 @@ This directory contains Dockerfiles for building example competitor Docker image
 * Provides a starting point for competitors who expect to build a workspace using custom source code. 
 * Because the Dockerfile expects to copy source code from the local file system, it is not self-contained.
 * Please see the `2022/vrx_2022_starter/README.md` for build instructions. 
+
+## 2023
+
+### `vrx_2023_simple` (in work)
+* Dockerfile pending
+* The python script corresponds to the behavior in `jessicaherman/vrx-competitor-example`
\ No newline at end of file
diff --git a/team_config/example_team/dockerhub_image.txt b/team_config/example_team/dockerhub_image.txt
index b87880a..d294dfa 100644
--- a/team_config/example_team/dockerhub_image.txt
+++ b/team_config/example_team/dockerhub_image.txt
@@ -1 +1 @@
-crvogt/vrx_2022_simple
+jessicaherman/vrx-competitor-example:2023.v2
\ No newline at end of file
diff --git a/team_config/example_team_2022/component_config.yaml b/team_config/example_team_2022/component_config.yaml
new file mode 100644
index 0000000..7a0ef5f
--- /dev/null
+++ b/team_config/example_team_2022/component_config.yaml
@@ -0,0 +1,64 @@
+wamv_camera:
+    - name: front_left_camera
+      visualize: False
+      x: 0.75
+      y: 0.1
+      z: 1.5
+      R: 0.0
+      P: ${radians(15)}
+      Y: 0.0
+      post_Y: 0.0
+    - name: front_right_camera
+      visualize: False
+      x: 0.75
+      y: -0.1
+      z: 1.5
+      R: 0.0
+      P: ${radians(15)}
+      Y: 0.0
+      post_Y: 0.0
+    - name: far_left_camera
+      visualize: False
+      x: 0.75
+      y: 0.3
+      z: 1.5
+      R: 0.0
+      P: ${radians(15)}
+      Y: 0.0
+      post_Y: 0.0
+wamv_gps:
+    - name: gps_wamv
+      x: -0.85
+      y: 0.0
+      z: 1.3
+      R: 0.0
+      P: 0.0
+      Y: 0.0
+wamv_imu:
+    - name: imu_wamv
+      x: 0.3
+      y: -0.2
+      z: 1.3
+      R: 0.0
+      P: 0.0
+      Y: 0.0
+lidar:
+    - name: lidar_wamv
+      type: 16_beam
+      x: 0.7
+      y: 0.0
+      z: 1.8
+      R: 0.0
+      P: ${radians(8)}
+      Y: 0.0
+      post_Y: 0.0
+wamv_ball_shooter:
+    - name: ball_shooter
+      x: 0.55 
+      y: -0.3 
+      z: 1.3
+      pitch: ${radians(-20)}
+      yaw: 0.0
+wamv_pinger:
+    - name: pinger
+      position: 1.0 0 -1.0
diff --git a/team_config/example_team_2022/dockerhub_image.txt b/team_config/example_team_2022/dockerhub_image.txt
new file mode 100644
index 0000000..b87880a
--- /dev/null
+++ b/team_config/example_team_2022/dockerhub_image.txt
@@ -0,0 +1 @@
+crvogt/vrx_2022_simple
diff --git a/team_config/example_team_2022/thruster_config.yaml b/team_config/example_team_2022/thruster_config.yaml
new file mode 100644
index 0000000..185cdb3
--- /dev/null
+++ b/team_config/example_team_2022/thruster_config.yaml
@@ -0,0 +1,10 @@
+engine:
+  - prefix: "left"
+    position: "-2.373776 1.027135 0.318237"
+    orientation: "0.0 0.0 0.0"
+  - prefix: "right"
+    position: "-2.373776 -1.027135 0.318237"
+    orientation: "0.0 0.0 0.0"
+  - prefix: "middle"
+    position: "0 0 0.318237"
+    orientation: "0.0 0.0 0.0"

From a4709f24269753c7189d54377344be3bf154ec15 Mon Sep 17 00:00:00 2001
From: M1chaelM <mrmccarr@nps.edu>
Date: Thu, 22 Jun 2023 16:11:19 -0400
Subject: [PATCH 2/8] working except gz fuel problems

---
 run_trial.bash                         | 15 ++++++++++-----
 vrx_server/build_image.bash            |  2 +-
 vrx_server/vrx-server/gz_utils.sh      |  4 ++--
 vrx_server/vrx-server/run_vrx_trial.sh | 14 +++++++-------
 4 files changed, 20 insertions(+), 15 deletions(-)

diff --git a/run_trial.bash b/run_trial.bash
index 606a747..1ecdfaa 100755
--- a/run_trial.bash
+++ b/run_trial.bash
@@ -24,7 +24,8 @@ usage()
 }
 
 # Parse arguments
-RUNTIME="runc"
+# TODO: nvidia runtime by default; runtime may be obsolete
+RUNTIME="nvidia"
 nvidia_arg=""
 image_nvidia=""
 
@@ -65,7 +66,8 @@ fi
 
 # Constants for containers
 SERVER_CONTAINER_NAME=vrx-server-system
-ROS_DISTRO=noetic
+ROS_DISTRO=humble
+SERVER_IMG="vrx-server-${ROS_DISTRO}${image_nvidia}:latest"
 LOG_DIR=/vrx/logs
 NETWORK=vrx-network
 NETWORK_SUBNET="172.16.0.10/16" # subnet mask allows communication between IP addresses with 172.16.xx.xx (xx = any)
@@ -97,7 +99,7 @@ chmod 777 ${HOST_LOG_DIR}
 echo -e "${GREEN}Done.${NOCOLOR}\n"
 
 # Find wamv urdf and task world files
-echo "Looking for generated files"
+echo "Looking for WAM-V urdf file (generated)"
 TEAM_GENERATED_DIR=${DIR}/generated/team_generated/${TEAM_NAME}
 if [ -f "${TEAM_GENERATED_DIR}/${TEAM_NAME}.urdf" ]; then
   echo "Successfully found: ${TEAM_GENERATED_DIR}/${TEAM_NAME}.urdf"
@@ -106,9 +108,11 @@ else
   echo -e "${RED}Err: ${TEAM_GENERATED_DIR}/${TEAM_NAME}.urdf not found."; exit 1;
 fi
 
+echo "Looking for task sdf file (generated/copied)"
 COMP_GENERATED_DIR=${DIR}/generated/task_generated/${TASK_NAME}
 if [ -f "${COMP_GENERATED_DIR}/worlds/${TASK_NAME}${TRIAL_NUM}.sdf" ]; then
   echo "Successfully found: ${COMP_GENERATED_DIR}/worlds/${TASK_NAME}${TRIAL_NUM}.sdf"
+  echo -e "${GREEN}Done.${NOCOLOR}\n"
 else
   echo -e "${RED}Err: ${COMP_GENERATED_DIR}/worlds/${TASK_NAME}${TRIAL_NUM}.sdf not found."; exit 1;
 fi
@@ -142,11 +146,11 @@ echo "---------------------------------"
 # simulation doesn't start too early, but may have issues if competitior
 # container waiting for ROS master and has error before server is created.
 # Run Gazebo simulation server container
-SERVER_CMD="/run_vrx_trial.sh /team_generated/${TEAM_NAME}.urdf /task_generated/worlds/${TASK_NAME}${TRIAL_NUM}.world ${LOG_DIR}"
-SERVER_IMG="vrx-server-${ROS_DISTRO}${image_nvidia}:latest"
+SERVER_CMD="/run_vrx_trial.sh /team_generated/${TEAM_NAME}.urdf /task_generated/worlds/${TASK_NAME}${TRIAL_NUM} ${LOG_DIR}"
 ${DIR}/vrx_server/run_container.bash $nvidia_arg ${SERVER_CONTAINER_NAME} $SERVER_IMG \
   "--net ${NETWORK} \
   --ip ${SERVER_ROS_IP} \
+  --gpus all \
   -v ${TEAM_GENERATED_DIR}:/team_generated \
   -v ${COMP_GENERATED_DIR}:/task_generated \
   -v ${HOST_LOG_DIR}:${LOG_DIR} \
@@ -172,6 +176,7 @@ docker run \
     --env ROS_MASTER_URI=${ROS_MASTER_URI} \
     --env ROS_IP=${COMPETITOR_ROS_IP} \
     --ip ${COMPETITOR_ROS_IP} \
+    --gpus all \
     --privileged \
     --runtime=$RUNTIME \
     ${DOCKERHUB_IMAGE} &
diff --git a/vrx_server/build_image.bash b/vrx_server/build_image.bash
index b88ef9b..c033aef 100755
--- a/vrx_server/build_image.bash
+++ b/vrx_server/build_image.bash
@@ -21,7 +21,7 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 
 # Parse arguments
 local_base_name="vrx-local-base"
-image_name="vrx-server-jammy"
+image_name="vrx-server-humble"
 
 DOCKER_ARGS="--build-arg BASEIMG=$local_base_name"
 # DOCKER_ARGS="$DOCKER_ARGS --no-cache"
diff --git a/vrx_server/vrx-server/gz_utils.sh b/vrx_server/vrx-server/gz_utils.sh
index 10330f8..83e94d9 100644
--- a/vrx_server/vrx-server/gz_utils.sh
+++ b/vrx_server/vrx-server/gz_utils.sh
@@ -4,7 +4,7 @@
 
 function is_gzserver_running()
 {
-  if pgrep gzserver > /dev/null; then
+  if pgrep -f "gz sim server" > /dev/null; then
     true
   else
     false
@@ -14,7 +14,7 @@ function is_gzserver_running()
 # Check if gzclient is running
 function is_gzclient_running()
 {
-  if pgrep gzclient > /dev/null; then
+  if pgrep "gz sim client" > /dev/null; then
     true
   else
     false
diff --git a/vrx_server/vrx-server/run_vrx_trial.sh b/vrx_server/vrx-server/run_vrx_trial.sh
index 54797d8..27dabce 100755
--- a/vrx_server/vrx-server/run_vrx_trial.sh
+++ b/vrx_server/vrx-server/run_vrx_trial.sh
@@ -40,7 +40,7 @@ echo "Starting vrx trial..."
 # Run the trial.
 # Note: Increase record period to have faster playback. Decrease record period for slower playback
 RECORD_PERIOD="0.01"
-roslaunch vrx_gazebo vrx.launch gui:=false urdf:=$WAMV_URDF world:=$TRIAL_WORLD extra_gazebo_args:="-r --record_period ${RECORD_PERIOD} --record_path $HOME/.gazebo" verbose:=true non_competition_mode:=false > ~/verbose_output.txt 2>&1 &
+ros2 launch vrx_gz competition.launch.py gui:=false urdf:=$WAMV_URDF world:=$TRIAL_WORLD extra_gazebo_args:="-r --record_period ${RECORD_PERIOD} --record_path $HOME/.gazebo" verbose:=true non_competition_mode:=false > ~/verbose_output.txt 2>&1 &
 roslaunch_pid=$!
 wait_until_gzserver_is_up
 echo -e "${GREEN}OK${NOCOLOR}\n"
@@ -48,21 +48,21 @@ echo -e "${GREEN}OK${NOCOLOR}\n"
 # Store topics in rosbag 
 # July 24, 2019 only record task info to save space
 echo "Starting rosbag recording..." 
-rosbag record -O ~/vrx_rostopics.bag /vrx/task/info &
+ros2 bag record -o ~/vrx_rostopics.bag /vrx/task/info &
 echo -e "${GREEN}OK${NOCOLOR}\n"
 
 # Run simulation until shutdown
 echo "Run simulation until gzserver is shutdown by scoring plugin"
 wait_until_gzserver_is_down
-echo "gzserver shut down"
+echo "gz sim server shut down"
 echo -e "${GREEN}OK${NOCOLOR}\n"
 
 # Kill rosnodes
-echo "Killing rosnodes"
-rosnode kill --all
-sleep 1s
+#echo "Killing rosnodes"
+#rosnode kill --all
+#sleep 1s
 
 # Kill roslaunch
-echo "Killing roslaunch pid: ${roslaunch_pid}"
+echo "Killing ros2 launch pid: ${roslaunch_pid}"
 kill -INT ${roslaunch_pid}
 echo -e "${GREEN}OK${NOCOLOR}\n"

From 841e1d7a18cd9a634246779b87faf3198cb4a923 Mon Sep 17 00:00:00 2001
From: M1chaelM <mrmccarr@nps.edu>
Date: Thu, 22 Jun 2023 18:09:00 -0400
Subject: [PATCH 3/8] update get_trial_score for new /vrx/task/info message

---
 run_trial.bash           |  9 +++++----
 utils/get_trial_score.py | 43 +++++++++++++++++++++++++++-------------
 2 files changed, 34 insertions(+), 18 deletions(-)

diff --git a/run_trial.bash b/run_trial.bash
index 1ecdfaa..e406218 100755
--- a/run_trial.bash
+++ b/run_trial.bash
@@ -66,6 +66,7 @@ fi
 
 # Constants for containers
 SERVER_CONTAINER_NAME=vrx-server-system
+SERVER_USER=developer
 ROS_DISTRO=humble
 SERVER_IMG="vrx-server-${ROS_DISTRO}${image_nvidia}:latest"
 LOG_DIR=/vrx/logs
@@ -188,10 +189,10 @@ echo "---------------------------------"
 
 # Copy the ROS log files from the server's container.
 echo "Copying ROS log files from server container..."
-docker cp --follow-link ${SERVER_CONTAINER_NAME}:/home/$USER/.ros/log/latest $HOST_LOG_DIR/ros-server-latest
-docker cp --follow-link ${SERVER_CONTAINER_NAME}:/home/$USER/.gazebo/ $HOST_LOG_DIR/gazebo-server
-docker cp --follow-link ${SERVER_CONTAINER_NAME}:/home/$USER/vrx_rostopics.bag $HOST_LOG_DIR/
-docker cp --follow-link ${SERVER_CONTAINER_NAME}:/home/$USER/verbose_output.txt $HOST_LOG_DIR/
+#docker cp --follow-link ${SERVER_CONTAINER_NAME}:/home/$SERVER_USER/.ros/log/latest $HOST_LOG_DIR/ros-server-latest
+docker cp --follow-link ${SERVER_CONTAINER_NAME}:/home/$SERVER_USER/.gz/ $HOST_LOG_DIR/gz-server
+docker cp --follow-link ${SERVER_CONTAINER_NAME}:/home/$SERVER_USER/vrx_rostopics.bag $HOST_LOG_DIR/
+docker cp --follow-link ${SERVER_CONTAINER_NAME}:/home/$SERVER_USER/verbose_output.txt $HOST_LOG_DIR/
 
 echo -e "${GREEN}OK${NOCOLOR}\n"
 
diff --git a/utils/get_trial_score.py b/utils/get_trial_score.py
index 5b9afee..a2782b4 100755
--- a/utils/get_trial_score.py
+++ b/utils/get_trial_score.py
@@ -1,11 +1,13 @@
-# get_trial_score.py: A Python script that gets the last message of a trial's rosbag file, 
+# get_trial_score.py: A Python script that gets the last message of a trial's ros2bag file, 
 #                     then records the final trial score in a text file
 #
 # eg. python get_trial_score.py <team_name> <task_name> <trial_number>
 
 import os
-import rosbag
+import rosbag2_py
 import sys
+from rclpy.serialization import deserialize_message
+from rosidl_runtime_py.utilities import get_message
 
 # Get arguments
 team_name = sys.argv[1]
@@ -17,25 +19,38 @@
 trial_directory = dir_path + '/../generated/logs/' + team_name + '/' + task_name + '/' + trial_number
 
 # Open ros bag
-bag_name = trial_directory + '/vrx_rostopics.bag'
-bag = rosbag.Bag(bag_name)
+bag_path = trial_directory + '/vrx_rostopics.bag/vrx_rostopics.bag_0.db3'
+storage_options = rosbag2_py.StorageOptions(uri=bag_path, storage_id='sqlite3')
+converter_options = rosbag2_py.ConverterOptions(input_serialization_format='cdr', 
+                                                output_serialization_format='cdr')
+
+reader = rosbag2_py.SequentialReader()
+reader.open(storage_options, converter_options)
+
+topic_types = reader.get_all_topics_and_types()
+
+type_map = {topic_types[i].name: topic_types[i].type for i in range(len(topic_types))}
+
+storage_filter = rosbag2_py.StorageFilter(topics=['/vrx/task/info'])
+reader.set_filter(storage_filter)
 
 # Get last message
 last_topic = None
-last_msg = None
+last_msg_data = None
 last_t = None
 
-for topic, msg, t in bag.read_messages(topics=['/vrx/task/info']):
-    last_topic = topic
-    last_msg = msg
-    last_t = t
+while reader.has_next():
+    (last_topic, last_msg_data, last_t) = reader.read_next() 
 
+msg_type = get_message(type_map[last_topic])
+last_msg = deserialize_message(last_msg_data, msg_type)
+score = None
+for field in last_msg.params:
+  if field.name == "score":
+    score = field.value.double_value
 # Write trial score to file
 trial_score_name = trial_directory + "/trial_score.txt"
-f = open(trial_score_name, 'w+')
-f.write("{}".format(last_msg.score))
+with open(trial_score_name, 'w+') as f:
+  f.write("{}".format(score))
 
 print("Successfully recorded trial score in {}".format(trial_score_name))
-f.close()
-bag.close()
-

From 7e211b2e5566fdab2784ab0c67b23dcfca633b74 Mon Sep 17 00:00:00 2001
From: M1chaelM <mrmccarr@nps.edu>
Date: Thu, 22 Jun 2023 18:51:28 -0400
Subject: [PATCH 4/8] removing obsolete nvidia arguments / variables

---
 replay_trial.bash             | 14 +++-----------
 run_trial.bash                | 34 +++-------------------------------
 vrx_server/run_container.bash | 24 +-----------------------
 3 files changed, 7 insertions(+), 65 deletions(-)

diff --git a/replay_trial.bash b/replay_trial.bash
index a3b9442..4ca3586 100755
--- a/replay_trial.bash
+++ b/replay_trial.bash
@@ -20,7 +20,7 @@ NOCOLOR='\033[0m'
 # Define usage function.
 usage()
 {
-  echo "Usage: $0 [-n --nvidia] [--keep-docker] [--manual-play] [--keep-gz] <team_name> <task_name> <trial_num>"
+  echo "Usage: $0 [--keep-docker] [--manual-play] [--keep-gz] <team_name> <task_name> <trial_num>"
   echo "--keep-docker: Keep Gazebo window open and Docker container running after playback ends."
   echo "  By default, everything is terminated automatically."
   echo "--manual-play: Do not automatically start playback. Wait for user to click in GUI."
@@ -31,8 +31,6 @@ usage()
 }
 
 # Parse arguments
-nvidia_arg=""
-image_nvidia=""
 keep_docker=1
 
 # Args to pass to script internal to Docker container
@@ -45,12 +43,6 @@ do
   key="$1"
 
   case $key in
-    -n|--nvidia)
-      nvidia_arg="-n"
-      image_nvidia="-nvidia"
-      shift
-      ;;
-
     --keep-docker)
       keep_docker=1
       shift
@@ -166,8 +158,8 @@ y=$y" > ${HOST_GZ_GUI_CONFIG_DIR}/gui.ini
 
 # Run Gazebo simulation server container
 SERVER_CMD="/play_vrx_log.sh ${LOG_FILE} ${OUTPUT} ${manual_play} ${keep_gz}"
-SERVER_IMG="vrx-server-${ROS_DISTRO}${image_nvidia}:latest"
-${DIR}/vrx_server/run_container.bash $nvidia_arg ${SERVER_CONTAINER_NAME} $SERVER_IMG \
+SERVER_IMG="vrx-server-${ROS_DISTRO}:latest"
+${DIR}/vrx_server/run_container.bash ${SERVER_CONTAINER_NAME} $SERVER_IMG \
   "--net ${NETWORK} \
   --ip ${SERVER_ROS_IP} \
   -v ${HOST_LOG_DIR}:${LOG_DIR} \
diff --git a/run_trial.bash b/run_trial.bash
index e406218..bb1cd9d 100755
--- a/run_trial.bash
+++ b/run_trial.bash
@@ -19,37 +19,10 @@ NOCOLOR='\033[0m'
 # Define usage function.
 usage()
 {
-  echo "Usage: $0 [-n --nvidia] <team_name> <task_name> <trial_num>"
+  echo "Usage: $0 <team_name> <task_name> <trial_num>"
   exit 1
 }
 
-# Parse arguments
-# TODO: nvidia runtime by default; runtime may be obsolete
-RUNTIME="nvidia"
-nvidia_arg=""
-image_nvidia=""
-
-POSITIONAL=()
-while [[ $# -gt 0 ]]
-do
-  key="$1"
-
-  case $key in
-      -n|--nvidia)
-      RUNTIME="nvidia"
-      nvidia_arg="-n"
-      image_nvidia="-nvidia"
-      shift
-      ;;
-      *)    # unknown option
-      POSITIONAL+=("$1")
-      shift
-      ;;
-  esac
-done
-
-set -- "${POSITIONAL[@]}"
-
 # Call usage() function if arguments not supplied.
 [[ $# -ne 3 ]] && usage
 
@@ -68,7 +41,7 @@ fi
 SERVER_CONTAINER_NAME=vrx-server-system
 SERVER_USER=developer
 ROS_DISTRO=humble
-SERVER_IMG="vrx-server-${ROS_DISTRO}${image_nvidia}:latest"
+SERVER_IMG="vrx-server-${ROS_DISTRO}:latest"
 LOG_DIR=/vrx/logs
 NETWORK=vrx-network
 NETWORK_SUBNET="172.16.0.10/16" # subnet mask allows communication between IP addresses with 172.16.xx.xx (xx = any)
@@ -148,7 +121,7 @@ echo "---------------------------------"
 # container waiting for ROS master and has error before server is created.
 # Run Gazebo simulation server container
 SERVER_CMD="/run_vrx_trial.sh /team_generated/${TEAM_NAME}.urdf /task_generated/worlds/${TASK_NAME}${TRIAL_NUM} ${LOG_DIR}"
-${DIR}/vrx_server/run_container.bash $nvidia_arg ${SERVER_CONTAINER_NAME} $SERVER_IMG \
+${DIR}/vrx_server/run_container.bash ${SERVER_CONTAINER_NAME} $SERVER_IMG \
   "--net ${NETWORK} \
   --ip ${SERVER_ROS_IP} \
   --gpus all \
@@ -179,7 +152,6 @@ docker run \
     --ip ${COMPETITOR_ROS_IP} \
     --gpus all \
     --privileged \
-    --runtime=$RUNTIME \
     ${DOCKERHUB_IMAGE} &
 
 # Run competition until server is ended
diff --git a/vrx_server/run_container.bash b/vrx_server/run_container.bash
index 77b8a66..9a2b8da 100755
--- a/vrx_server/run_container.bash
+++ b/vrx_server/run_container.bash
@@ -22,32 +22,10 @@
 set -x
 
 # Parse arguments
-RUNTIME="runc"
-
-POSITIONAL=()
-while [[ $# -gt 0 ]]
-do
-  key="$1"
-  
-  case $key in
-      -n|--nvidia)
-      RUNTIME="nvidia"
-      shift
-      ;;
-      *)    # unknown option
-      POSITIONAL+=("$1")
-[ruby $(which gz) sim-1] qt.qpa.plugin: Could not load the Qt platform plugin "xcb" in "" even though it was found.
-      shift
-      ;;
-  esac
-done
-
-set -- "${POSITIONAL[@]}"
-
 if [[ $# -lt 2 ]] 
 then
 [ruby $(which gz) sim-1] qt.qpa.plugin: Could not load the Qt platform plugin "xcb" in "" even though it was found.
-    echo "Usage: $0 [-n --nvidia] <container_name> <image_name> [<docker_extra_args> <command>]"
+    echo "Usage: $0 <container_name> <image_name> [<docker_extra_args> <command>]"
     exit 1
 fi
 

From 846017bb92260222b9a934bc16fe544d87143190 Mon Sep 17 00:00:00 2001
From: M1chaelM <mrmccarr@nps.edu>
Date: Fri, 23 Jun 2023 15:20:08 -0400
Subject: [PATCH 5/8] remove redundant argument

---
 run_trial.bash | 1 -
 1 file changed, 1 deletion(-)

diff --git a/run_trial.bash b/run_trial.bash
index bb1cd9d..4456694 100755
--- a/run_trial.bash
+++ b/run_trial.bash
@@ -124,7 +124,6 @@ SERVER_CMD="/run_vrx_trial.sh /team_generated/${TEAM_NAME}.urdf /task_generated/
 ${DIR}/vrx_server/run_container.bash ${SERVER_CONTAINER_NAME} $SERVER_IMG \
   "--net ${NETWORK} \
   --ip ${SERVER_ROS_IP} \
-  --gpus all \
   -v ${TEAM_GENERATED_DIR}:/team_generated \
   -v ${COMP_GENERATED_DIR}:/task_generated \
   -v ${HOST_LOG_DIR}:${LOG_DIR} \

From f5b964fbc8a797dd3eecf0945232922586b40b91 Mon Sep 17 00:00:00 2001
From: M1chaelM <mrmccarr@nps.edu>
Date: Fri, 23 Jun 2023 15:33:40 -0400
Subject: [PATCH 6/8] workaround issue 680 in VRX

---
 run_trial.bash | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/run_trial.bash b/run_trial.bash
index 4456694..7595872 100755
--- a/run_trial.bash
+++ b/run_trial.bash
@@ -120,7 +120,7 @@ echo "---------------------------------"
 # simulation doesn't start too early, but may have issues if competitior
 # container waiting for ROS master and has error before server is created.
 # Run Gazebo simulation server container
-SERVER_CMD="/run_vrx_trial.sh /team_generated/${TEAM_NAME}.urdf /task_generated/worlds/${TASK_NAME}${TRIAL_NUM} ${LOG_DIR}"
+SERVER_CMD="/run_vrx_trial.sh /team_generated/${TEAM_NAME}.urdf practice_2023_${TASK_NAME}${TRIAL_NUM}_task ${LOG_DIR}"
 ${DIR}/vrx_server/run_container.bash ${SERVER_CONTAINER_NAME} $SERVER_IMG \
   "--net ${NETWORK} \
   --ip ${SERVER_ROS_IP} \

From 62e313fb760eb9ed572a877c93a840acd5f809e7 Mon Sep 17 00:00:00 2001
From: M1chaelM <mrmccarr@nps.edu>
Date: Sun, 25 Jun 2023 13:23:29 -0400
Subject: [PATCH 7/8] remove workaround

---
 run_trial.bash | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/run_trial.bash b/run_trial.bash
index 7595872..4456694 100755
--- a/run_trial.bash
+++ b/run_trial.bash
@@ -120,7 +120,7 @@ echo "---------------------------------"
 # simulation doesn't start too early, but may have issues if competitior
 # container waiting for ROS master and has error before server is created.
 # Run Gazebo simulation server container
-SERVER_CMD="/run_vrx_trial.sh /team_generated/${TEAM_NAME}.urdf practice_2023_${TASK_NAME}${TRIAL_NUM}_task ${LOG_DIR}"
+SERVER_CMD="/run_vrx_trial.sh /team_generated/${TEAM_NAME}.urdf /task_generated/worlds/${TASK_NAME}${TRIAL_NUM} ${LOG_DIR}"
 ${DIR}/vrx_server/run_container.bash ${SERVER_CONTAINER_NAME} $SERVER_IMG \
   "--net ${NETWORK} \
   --ip ${SERVER_ROS_IP} \

From c29162ccfaf67b37ea7933999c0dcadcbcd7601f Mon Sep 17 00:00:00 2001
From: M1chaelM <mrmccarr@nps.edu>
Date: Mon, 26 Jun 2023 09:09:51 -0400
Subject: [PATCH 8/8] downloading models during image build

---
 vrx_server/vrx-server/Dockerfile | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/vrx_server/vrx-server/Dockerfile b/vrx_server/vrx-server/Dockerfile
index d94b8c9..4ccce99 100644
--- a/vrx_server/vrx-server/Dockerfile
+++ b/vrx_server/vrx-server/Dockerfile
@@ -19,6 +19,22 @@ RUN /bin/sh -c 'echo ". /opt/ros/${ROSDIST}/setup.bash" >> ~/.bashrc' \
  && /bin/sh -c 'echo ". ~/vrx_ws/install/setup.sh" >> ~/.bashrc'
 ## END OF SECTION BASED ON vrx/docker/Dockerfile
 
+# Cache fuel resources
+RUN /bin/bash -c 'gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta \
+  && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/post \
+  && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station \
+  && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/antenna \
+  && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_red \
+  && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_black \
+  && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_green \
+  && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_white \
+  && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_orange \
+  && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black \
+  && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/platypus \
+  && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/crocodile \
+  && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/turtle \
+  && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/wam-v'
+
 # Expose port used to communiate with gzserver
 EXPOSE 11345