Michael’s Status Report for 4/10/21

Accomplishments for the week:
- Over the past week, I mainly worked with the team to integrate all the submodules on the robot so that it can autonomously navigate through a specified series of waypoints for the interim demo.
- Much of my work was done writing to the launch files and making sure the nodes correctly interfaced.
- I also added a feature to the GUI that allows the emergency operator to log the robot’s current location in (x,y) offset (meters x meters) from the starting point and display it as a marker on rviz.
Progress:
- Currently I am on-track.
Next week’s deliverables:
- Bound the multiorder algorithm’s batch size since it’s exponentially complex
- Work with team to integrate GPS and ORB-SLAM as a replacement for RTABMAP