In the first half of this week, I wrote a script that took commands in real time to move the robot, and simultaneously supplied these as odometry measurements to the SLAM, and at the end of a 30 second time frame saved the generated map. The position of the roomba is displayed as a series of points. Here, the contours of the room in the area that the robot managed to explore, including the bottom left corner and the walls…
This week, I used BreeySLAM (a SLAM package in python) while moving the robot with commands in real time over SSH to generate several different maps – with scans from a single point, the SLAM was not accurate and noisy. With multiple scans generated from the robot moving in a line, the map is more coherent although the dimensions look a little off (the map looks too small to represent my room, so the SLAM seems to be extrapolating the…
This week I finally obtained the parts on Tuesday. On Wednesday during the remote class work session, I borrowed my roommates monitor and keyboard to set up ssh on my raspberry pi. Since I do not currently own a monitor and keyboard, I will be using ssh until the monitor and keyboard we ordered arrives. I later spent a few hours trying to install cartographer onto the raspberry Pi. I was unable to do so successfully. In our remote work…
This week, I gave a presentation on the design of our project. Later during the weekend, I helped the rest of the team create the design report document as well as set up the Roomba iCreate and the the raspberry Pi. We decided that we would add more ultrasonic sensors to the robot to help it avoid bumping into obstacles like tables. I created the following diagram that illustrates this (and added it to the document): I also updated parts…
This week we received the components, including the Roomba, the Rapsberry Pi, the lidar and the camera module. The RPI did not come with an SD card, so we had to find one and install the OS onto it. I managed to get one from ideate, and we placed an order for an SD card. Additionally, we discovered that we received a Roomba 1, which was released in 2007 has far less documentation and support than the Roomba 2. We…
This Week I accomplished the following tasks this week: A lot of my time this week was spent designing the block diagram for our project with Shanel. This involved figuring out the connections between each of the main components – Raspberry Pi, Lidar, Power Bank, Roomba (iCreate 2), and raspberry camera module. I discovered that the raspberry Pi contained a special pins for raspberry camera module. I worked on miscellaneous parts of the Design Presentation. We decided that I would…