Over the past week, I primarily worked to recover from the hack, and work with the team to reflash the Xavier and reinstall dependencies onto it.
I consolidated the custom messages between the ground station and robot FSM into one custom message ROS package for all components to use in order to make integration much easier.
I worked on the GUI based on my teammates’ usage feedback, combining the operator and user GUI into one.
My teammates ran the operator GUI and used it to remote control the robot successfully, showing that the GUI, joystick code and camera feed work in production.
Progress:
Currently I am on-track.
Next week’s deliverables:
Double-check the ground station FSM based on my teammates’ robot FSM code/tests
Help test the robot and help with mapping/vision, now that it can drive around.
Set up ssh keys for the Xavier on 2/3 of our laptops. Once set up on all 3, we will disable password authentication for ssh so we don’t get hacked again.
Worked with Advaith to get the robot driving in some spots on campus with a human operator
Determined that we cannot change our network architecture since a hotspot does not work with ROS. Our intended solution is to have our robot be the network core instead of the ground station, and allow the robot to continue delivering during short network disconnects.
Progress Timeline
Our progress is on schedule
Next Week Deliverables
Write integration test between the robot state machine and the ground station
Implement the robot heartbeat package – need to synchronize sensor readings coming in at different rates
Assist with path planning
Progress Videos (WordPress not allowing video files)
