- Week recap
- Worked on navigation bringup with George.
- Successfully created global planned path from robot to target location.
- Setup gmapping as an alternative SLAM mapping engine. It resulted in a poorer quality map when compared to Hector SLAM.
- Debugged faulty navigation. When attempting to follow a planned path, the robot does not make any progress, it just spins in circles. We have identified a possible error in odometry data.
- The odom data provided by the Roomba seems to be very unreliable. Many people have mentioned this online. This may be causing navigation/gmapping issues as both rely on odom.
- We have identified an alternative method of gathering odom data. Specifically using laser scans to emulate odom.
- Schedule
- On schedule, debugging navigation
- Deliverables
- Check in with usb wifi adapter package shipping timeline.
- Continue debugging navigation/odometry
- Implement laser scan odom.
Team B4 : Robotic Trash Concierge
Carnegie Mellon ECE Capstone, Spring 2023: Jack Girel-Mats, George Gao, Zachary Mason