- Worked with Jack to get robot movement towards ARUco tags working for demo https://github.com/gxgao/eceCapstone/blob/master/bin_docking.py
- Database bin identification through interface and video streams : https://github.com/gxgao/eceCapstone/blob/master/video_aruco.py
- Added file to publish goal and initial pose directly without rviz : https://github.com/gxgao/eceCapstone/blob/master/catkin_ws/src/trash_bot/localization_data_pub/src/rviz_click_to_2d.cpp
- Found and Fixed bug with Jack in Navigation stack that set odom frame as a static transform w.r.t the world frame, leading to issues with initial pose estimation and localization
- Localization still drifts, will need to continue working on tuning parameters
- Map update and control loop update frequency has been adjusted to be much lower due to hardware limitations. Tested on both AGX and Nano, both around the same.
Schedule:
Behind on schedule, using built in slack for navigation
Next week:
Continue tuning parameters on navigation stack for better path following results, move towards bin docking movement locally
Testing Plans:
- Bin identification: will run multiple tests in following weeks on identifying through onboard camera to hit 99% correct bin identification rate. This includes working through the database, and CV components.
- Battery life tests can be run next week with just running movement at full throttle till death as a benchmark for battery life. Expectation is not to hit the 5 hour initial goal.
Not ready for testing but the plan for the below components:
- Bin Docking: Since mechanical components are not in place yet, tests will involve identifying bin properly, locally navigating to it, and spinning in place to prepare for docking procedure with alignment within 10 degrees of normal plane. This test will be repeated for 10 trials for multiple bin configurations. Want to achieve initial goal of 80%.
- Navigation Stack: Work with Jack to test successful general navigation to 3 published goals of varying complexity, with 5 trials each. Success is determined by being within a 1 m radius of goal, would like to achieve at least a 80% success rate.
Full integration testing will be left for after subsystem testing completion.