There are several places you can refer to when looking for documents related to the European Rover Challenge Remote Edition that we co-organized in 2020, 2021 and 2022. See below.
https://drive.google.com/drive/folders/1bLOFao7aLakwYZtC05-G16LMa0n-taNo?usp=share_link
Go to: 2022 ERC Remote Edition -> Navigation Task
https://www.leorover.tech/post/exploring-mars-through-simulation
https://www.leorover.tech/integrations/erc-gazebo