Jack Girel-Mats Status Report for 4/1/2023 – Team B4 : Robotic Trash Concierge

Week recap
- Continued working on navigation bringup with George.
  - Kind of working. We were able to give a goal pose and the robot was able to follow the planned path.
  - A bit finicky, needs to start at a specific point for path planning to work. (Localization and path planning are desynced for some reason)
  - Doesn’t do well with all types of obstacles, needs some more testing and optimization
- Worked on LaserScanMatcher to implement odometry data using just laser scans (we are not going to use LaserScanMatcher for now b/c we got odometry data from Roomba).
- Building the Roomba library from source (which is a newer version than the one that can be downloaded on ubuntu repositories) and changing the baud rate has enabled the odom topic in Ros
  - It was working well enough to get simple path finding working
  - Need to do some more testing to see if it is fully working and accurate
Schedule
- On schedule, fine tuning navigation
Deliverables
- Check in with usb wifi adapter package shipping timeline (Quin was out)
- Fine tune navigation