- We received many parts this week, and we spent the majority of time testing them individually. We tested the motors, motor controller, robot/groundstation networking, and collision avoidance algorithm in simulation.
- Current Risks and Mitigation
- The Jetson Xavier is having issues with the RealSense D435i. It will reboot after running for what seems like an arbitrary amount of time. Additionally, the framerate is still lower than expected, likely due to using a default configuration.
- We’ve seen other people use the same camera running RTABMAP at reasonable framerates, so we are going through forums looking for solutions
- The motor controller disconnects easily when using USB connection for serial.
- To fix this, we are moving towards a wired UART connection to the motor controller
- The Jetson Xavier is having issues with the RealSense D435i. It will reboot after running for what seems like an arbitrary amount of time. Additionally, the framerate is still lower than expected, likely due to using a default configuration.
- Changes to System Design
- Interface between Xavier and motor controller changes from USB Serial to UART.
- Schedule Changes
- No changes to our schedule this week.
- Progress Pictures
- Early stages of chassis building
- Raw GPS data from GPS sensor tested on campus
- Testing our motors with wheels attached
Carnegie Mellon ECE Capstone, Spring 2021 | Michael Li, Sebastian Montiel, Advaith Sethuraman