Group Update
This week we had mid point demos, so the focus was mainly on integrating python scripts into ROS, and testing ROS topics. On the slam side, we were able to display static maps in RVIZ. There is still some localization error in the slam code so that moving the RPLidar will cause the entire map to shift across the screen instead of adding new parts of the map in the correct positions relative to the known areas of the map. On the motor control side, the onscreen joystick control, odometry, and motor control were integrated so we will be able to mount the RPLidar on the base to teleop the robot around for testing. For our midpoint demo, we showed these two separate parts of the system as separate demos since we have not integrated the two parts yet.
Amukta’s Update
I continued to work on ICP with Kanupriyaa.
Kanupriyaa’s Update
I was unwell this week and thus fell behind the schedule for some part. I was supposed to complete the testing for ICP and complete the mapping portion of the ICP done. I am still working on both of these aspects and I believe I will need to do this for all of next week. I am hence one week behind schedule.
Tiffany’s Update
I wrapped up my motor control pipeline and migration to ROS, and tested the motor control ROS nodes (encoder input node, motor controller output node, motor speed PID / differential drive control node) on the robot and using Rviz. I also added an onscreen joystick control node from an existing ROS package so that I could demo and test the motor control to simulate motor commands that will come from the SLAM and path planning portions of the ROS network.