{"id":69,"date":"2019-03-02T20:32:54","date_gmt":"2019-03-02T20:32:54","guid":{"rendered":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s19-teamb4\/?p=69"},"modified":"2019-03-20T15:38:42","modified_gmt":"2019-03-20T15:38:42","slug":"status-report-3-02","status":"publish","type":"post","link":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s19-teamb4\/2019\/03\/02\/status-report-3-02\/","title":{"rendered":"Status Report (3\/02)"},"content":{"rendered":"<h2>Group Update<\/h2>\n<p>Slightly behind schedule for motor\/encoder IO development on Raspberry Pi due to missing micro SD card, and slightly behind on implementation of SLAM due to work on design presentation and report.<\/p>\n<p>&nbsp;<\/p>\n<h2>Amukta&#8217;s Update<\/h2>\n<ul>\n<li>This week, I mostly worked on the design presentation and design report.<\/li>\n<li>I set up the RPLidar and tested its input. I also set up an Ubuntu VM and ROS repo for the entire team to use:\u00a0<a href=\"https:\/\/github.com\/amnayak\/slambot-ros\">https:\/\/github.com\/amnayak\/slambot-ros<\/a><\/li>\n<\/ul>\n<p><img decoding=\"async\" loading=\"lazy\" class=\"alignnone size-medium wp-image-77\" src=\"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s19-teamb4\/wp-content\/uploads\/sites\/30\/2019\/03\/Screen-Shot-2019-03-04-at-12.13.18-PM-300x235.png\" alt=\"\" width=\"300\" height=\"235\" srcset=\"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s19-teamb4\/wp-content\/uploads\/sites\/30\/2019\/03\/Screen-Shot-2019-03-04-at-12.13.18-PM-300x235.png 300w, http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s19-teamb4\/wp-content\/uploads\/sites\/30\/2019\/03\/Screen-Shot-2019-03-04-at-12.13.18-PM-768x602.png 768w, http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s19-teamb4\/wp-content\/uploads\/sites\/30\/2019\/03\/Screen-Shot-2019-03-04-at-12.13.18-PM-1024x803.png 1024w, http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s19-teamb4\/wp-content\/uploads\/sites\/30\/2019\/03\/Screen-Shot-2019-03-04-at-12.13.18-PM.png 2026w\" sizes=\"(max-width: 300px) 100vw, 300px\" \/><\/p>\n<ul>\n<li>I continued to work on the visualization web app.<\/li>\n<li>Next week, I will be working on implementing loop closure.<\/li>\n<\/ul>\n<h2>Kanupriyaa&#8217;s Update<\/h2>\n<p><strong>ICP Algorithm Building<\/strong><\/p>\n<p>After we changed the entire system architecture and decided to use Odometry to build the data, I\u00a0 stopped work on the data probability for localization and continued work for building the new SLAM Algorithm. I researched and read 26 papers on SLAM, ranging from ICP, Graph based SLAM to the different components that go into SLAM to stitch together a design we have made on our own. We have decide to just use ICP in a Graph based SLAM and later optimize the graph for better accuracy.<\/p>\n<h2>Tiffany&#8217;s Update<\/h2>\n<p><strong>Maze Design &amp; General Tasks<\/strong><\/p>\n<p>I brainstormed ways to design the maze to make it modular and decided on building the maze in 1x1x1 ft sections that can be reconfigured to form different mazes.<\/p>\n<p>I also updated the Gantt chart to reflect changes to our implementation and added milestones.<\/p>\n<p><strong>Motor\/Encoder IO ROS Nodes<\/strong><\/p>\n<p>The motor and encoder IO ROS nodes were suppose to have been completed this week. I have written ROS nodes for reading and writing to the motors and encoders, but cannot test these since I lost the micro SD card for the Raspberry Pi. So I am slightly behind on this task, but the nodes can be tested once the new SD card arrives on Monday and is set up.<\/p>\n<p><strong>Next Week<\/strong><\/p>\n<ul>\n<li>Test motor and encoder IO nodes<\/li>\n<li>Start work on path planning (coordinate with Kanupriyaa on ROS topics)<\/li>\n<li>Build maze segments<\/li>\n<\/ul>\n","protected":false},"excerpt":{"rendered":"<p>Group Update Slightly behind schedule for motor\/encoder IO development on Raspberry Pi due to missing micro SD card, and slightly behind on implementation of SLAM due to work on design presentation and report. &nbsp; Amukta&#8217;s Update This week, I mostly worked on the design presentation and design report. I set up the RPLidar and tested &hellip; <\/p>\n<p class=\"link-more\"><a href=\"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s19-teamb4\/2019\/03\/02\/status-report-3-02\/\" class=\"more-link\">Continue reading<span class=\"screen-reader-text\"> &#8220;Status Report (3\/02)&#8221;<\/span><\/a><\/p>\n","protected":false},"author":86,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":[],"categories":[2],"tags":[],"_links":{"self":[{"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s19-teamb4\/wp-json\/wp\/v2\/posts\/69"}],"collection":[{"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s19-teamb4\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s19-teamb4\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s19-teamb4\/wp-json\/wp\/v2\/users\/86"}],"replies":[{"embeddable":true,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s19-teamb4\/wp-json\/wp\/v2\/comments?post=69"}],"version-history":[{"count":9,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s19-teamb4\/wp-json\/wp\/v2\/posts\/69\/revisions"}],"predecessor-version":[{"id":94,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s19-teamb4\/wp-json\/wp\/v2\/posts\/69\/revisions\/94"}],"wp:attachment":[{"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s19-teamb4\/wp-json\/wp\/v2\/media?parent=69"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s19-teamb4\/wp-json\/wp\/v2\/categories?post=69"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s19-teamb4\/wp-json\/wp\/v2\/tags?post=69"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}