Group Update
We’re behind on ICP implementation and integrating that with the encoder data. Our focus in the next week is constructing the entire robot and doing the above.
Amukta’s Update
This week I worked on creating an RPLidar node that detected hallways (to be used in local planner). I also met with Kanupriyaa to work on ICP.
Kanupriyaa’s Update
I completed the ICP code this week and met with Amukta to connect with the LIDAR and debug the code.
Tiffany’s Update
This week I researched and ordered parts necessary to build the maze and some additional parts for the robot (caster wheels, power supply …etc). I also updated the CAD of the upper layer of the robot body for mounting the RPLidar to, so that the full robot, including the new caster wheels, can be assembled on Monday and used to measure the error rate of the encoder. I am in the process of debugging the transform frames outputted from the odometry data, since these tfs are incorrect right now.