Alex’s Status Report 4/11

Alex’s Status Report 4/11

Comments 0 Comment

This week, most of my work was done in several work sessions with the rest of my team. I made progress on the planning & routing algorithms for the navigation module. I implemented a search that, starting from the current position, expands radially outward until it finds a suitable destination (based on exploredness). Together with Shanel’s implementation of the A* routing algorithm, we now have both components of a navigation algorithm to find a destination as well as plan a…

Read More Read More

Shanel’s status report 4/5

Shanel’s status report 4/5

Comments 0 Comment

For the demo, we plan to exhibit a full circle of data transfer (not necessarily in real time). It will start with the robot moving based on instructions we give it. It will take in odometry and lidar scan data that will feed into BreezySLAM. BreezySLAM will give us back a final point bytearray generated as a map. We then feed this map as a pgm fil into our navigation algorithm which generates a path and set of instruction back…

Read More Read More

Team Status Report 4/5

Team Status Report 4/5

Comments 0 Comment

The major risks to our project at this point can mostly be traced back to time. We don’t foresee any critical roadblocks at this point, but getting everything up and running and integrated will be challenging. In our meeting, we planned out a few strategies to modularize the project as much as possible, so that work can be done in parallel. Currently, we separated the project pretty cleanly into three parts, with each of us working offline, then meeting to…

Read More Read More

Alex’s Status Report 4/5

Alex’s Status Report 4/5

Comments 0 Comment

This week, I was mostly working on the internal data flow and data structures. The normal BreezySLAM output is a .pgm file, but since we wanted to do extra processing on top of the map, I modified the BreezySLAM script to output a binary file, which is read back in to our data structures. We are working in object-oriented Python, with the bulk of control & data stored in the Map class. The Map class compresses the high-resolution map into…

Read More Read More

Aditi’s status report 4/5

Aditi’s status report 4/5

Comments 0 Comment

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…

Read More Read More

Aditi’s status report 3/29

Aditi’s status report 3/29

Comments 0 Comment

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…

Read More Read More

Alex’s Status Report 3/29

Alex’s Status Report 3/29

Comments 0 Comment

My team had several work sessions to combine the different subsystems on a basic level. We decided to ditch Cartographer and ROS SLAM for both complexity and compatibility issues, relying instead on an open source Python package called BreezySLAM. This week, I installed BreezySLAM, ran it through a demo dataset, and extracted the internal data structure representing the SLAM map. I wrote a compression function to reduce the image into a grid heatmap which we plan to do the actual…

Read More Read More

Shanel’s Status Report 3/29

Shanel’s Status Report 3/29

Comments 0 Comment

This week I migrated our web application form plain JavaScript to React. I initially built it using Cloudinary to store picture and videos that would be transmitted from the Pi, but ultimately decided to use our Amazon credits for EC2 and S3 instead. Now, our web application runs on an EC2 instance. The Pi will transmit the map onto the EC2 instance, where the web app will look for the images and videos to display. I also wrote our updated…

Read More Read More

Team Status Report 3/29 (with updated Gantt Chart and Risk)

Team Status Report 3/29 (with updated Gantt Chart and Risk)

Comments 0 Comment

This week we were able to start connecting some of the individual parts of our project. We’ve starting to link the frontend and backend of our web application, and export the odometry data of the Roomba to our processing and navigation algorithm. We ran into quite a bit of trouble installing Cartographer ROS onto the Pi, because there were many unresolved dependencies that are poorly documented. We were aware of Cartographer’s package problems before spring break, and spent an additional…

Read More Read More