This week I iterated through a variety of arm configurations and weight distributions to get the robot to grab items without tipping over. I fused the wheel odometry with the IMU to get the robot’s heading and x,y coordinates for user feedback and for use while trying to make the robot autonomous. I tried to get the computer in the rev control hub to integrate with ROS using rosserial and the ORB SLAM that I got working but was unable to do so due to lack of understanding of gradle files. Because the autonomous navigation was taking too long to program, I decided to settle on using just remote control operation.