Much of this week was spent cutting wood again with my team because we weren’t able to assemble the pieces properly last week. Last week, we found it hard to assemble some of the wood pieces that surround the motor because we were screwing together wood pieces at 45-degree angles. This week, we recut them and decided to glue the pieces together instead. This process was much smoother and much easier than last week because we used glue. All of the pieces involving wood are now assembled. They just need to be placed onto the iRobot. We were not able to do that this week as we were waiting for the glue to dry. This week, we all plan on getting together and start to assemble the individual pieces onto the iRobot create2.
In terms of software, Ishaan and I were able to get the pyrealsense2 library to install onto the Jetson after great difficulty. We were able to run the code we wrote last week on the iRobot using the Jetson alone. The robot can now detect and move towards a tennis ball using the output from the real sense camera and the base path planning algorithm I wrote.
This week, since all of the software parts are now integrated onto the robot, I plan on focusing on improving the planning algorithm. Specifically, I will try to start using the depth information so that the robot can track and create a path for multiple balls at once.