- Finished Navstack with Jack, Robot localization and path-planning including local obstacle avoidance is possible now
- Created new Ros Node with Jack to mask lidar into proper range during bin pick so that bins don’t mess with localization while picked close to the robot
- Added functionality to fetch free bins from the databases
- Added Functionality to publish and cancel goals
- Wrote Central Coordinator with Jack:
- Wrote Idle state: fetches free bins from database and sets it as a goal
- Fetching: uses given state to (current free bin) to give navstack goal to reach
- Searching for Bin state added: uses video stream from web cam to detect the current bin’s aRUco marker, added controls to rotate in place searching for marker, and during fetching journey
- Docking: Roomba once identifies bin, will rotate 180 degrees +/- some tolerance using the Lidar to align with the bin to begin process
- Started testing components that are possible (arms are not finished so focused on what was available) https://docs.google.com/spreadsheets/d/1Fv7A8lMn3GBn9MV8tf394E4ilYxbIwjUDCy7U3aQ8g0/edit?usp=sharing
- aRUco Identification test (success)
- Navstack Test (success)
- Movement Speed Test (success)
- Human Collision Test (success)
- Battery Test ()
Schedule:
Behind on schedule, using built in slack to do full integration with arms
Next week:
Finish arms and full integration, start running full integration tests