George’s Status Report for 3/18/2023 – Team B4 : Robotic Trash Concierge

Week recap
- Worked with team to incorporate entire Ros Navigation Stack setup on Jetson https://github.com/gxgao/eceCapstone/commit/90eac2dfaa66f95673eb20bf9b45bb73561d2cd6 (WIP).
- Completed Ethics Report
- Primitive HH 1307 mapping with hector slam on Roomba level completed with team: https://github.com/gxgao/eceCapstone/tree/master/catkin_ws/maps
  - Initial map seems to be messed up due to the floor level windows of hammerschlag. Further testing needs to be done, in addition to integration with odometry data.
- Odometry python Ros infra setup:
  - Learning curve for python ros interface
  - https://github.com/gxgao/eceCapstone/blob/master/encoder_node.py
Schedule
- Behind Schedule on Path planning. Path planning bring up is tied to navigation stack, deprioritized to bring up movement before path planning through goal publishing node will be done.
Deliverables
- Get Roomba motor control setup with ROS
- Navigation stack completion
- Encoder data pull from pycreate