- Week recap
- Worked on navigation tuning with George.
- Found a bug with George, which was causing a transform from map to Odom frame to be published by two sources. This is incorrect as AMCL (localization) should be responsible for publishing this transform.
- The above bug helped us fix initial pose estimation allowing for the robot to start in any location in the room (before it had to start at a specific spot described by SLAM).
- Localization still drifts which is a cause for concern.
- Lowered navigation control update loops. This was necessary as the hardware we are using is not powerful enough to handle updates that create smooth movement.
- Setup Jetson AGX using usb wifi for ssh. Although it is a bit faster than the NX, when doing development over ssh, it often freezes. We have decided that a better development experience is more valuable at the moment and will continue using the NX.
- Worked with George to implement a simple program that allows the Roomba to follow the movement of an ARUco tag.
- Worked on navigation tuning with George.
- Schedule
- Behind on navigation. Need to use slack to finish.
- Deliverables
- Fine tune navigation
- Testing Plans
- Not ready for navigation testing, still a lot of fine tuning left. Some simple tests can be run: a battery test running the Roomba in a back and forth pattern at full throttle as well as running the servos for bin docking intermittently. Additionally we will be doing further testing of localization for navigation fine tuning.
- We will do ARUco tag orientation to test simulated trash bin pickup. This will be accomplished using a tag attached to a wall.
Team B4 : Robotic Trash Concierge
Carnegie Mellon ECE Capstone, Spring 2023: Jack Girel-Mats, George Gao, Zachary Mason