Team Status Report for 3/27/21

We found the source of the Jetson Xavier reboot bug that we believed to be related to the RealSense D435i. It was actually an issue with a particular USB-C adapter that we were using. We have other adapters that work without issue and will use those.
Current Risks and Mitigation
- We found that the CMU WiFi is not reliable enough for a mobile robot to use the network outside (latency and disconnect issues). We are going to place a hotspot onboard the robot and use a different ROS network design.
- RTABMAP can lose tracking if it sees mostly sidewalk, as there aren’t many features, so we will have to adjust the camera to ensure that RTABMAP can track consistently. Worst case, we use only GPS to localize the robot.
Changes to System Design
- We have switched to larger caster wheels to fit the new mechanical design
- We’ll be changing the network design from the CMU campus WiFi.
Schedule Changes
- No changes to our schedule this week.
Progress Pictures