- Week recap
- Finished creating a new LiDAR ROS node with George.
- This new node masks out the back half of the LiDAR scan which is occluded by the trash bin during pickup and retrieval.
- Worked on the central coordinator with George.
- The central coordinator allows us to give commands to the Roomba bypassing RViz.
- (Path Following) We can send goal locations to the Navstack allowing for bin pickups using coordinates stored in the bin database.
- (Searching) After navigating to a set coordinate, the Roomba rotates until the front camera sees the ARUco tag.
- (Docking) Once a tag is identified, the Roomba rotates 180 degrees, at which point the Roomba uses the LiDAR to align itself with the bin.
- Still need to test docking (arms are not done yet).
- Added ability to cancel goals
- Added manual control (drive X meters, rotate X degrees)
- Worked on navigation testing with George.
- Picked two positions in A107 and measured how close the Roomba was to those positions after navigation.
- Tested camera ARUco detection with George.
- Camera was able to reliably detect ARUco tags at up to 2m.
- The detection was poor during rota
- Tested motor control and bin pickup arms with Mason.
- Tested battery life with George
- Tested obstacle avoidance with George
- Tested movement speed with George
- https://docs.google.com/spreadsheets/d/1Fv7A8lMn3GBn9MV8tf394E4ilYxbIwjUDCy7U3aQ8g0/edit?usp=sharing
- Finished creating a new LiDAR ROS node with George.
- Schedule
- Navigation Done. Working on integration for the next week and finals week.
- Behind on bin pickup. While arms are not completed, doing testing.
- Deliverables
- Overall system integration. Mainly working on docking and bin retrieval.
- Help with arm testing.
Team B4 : Robotic Trash Concierge
Carnegie Mellon ECE Capstone, Spring 2023: Jack Girel-Mats, George Gao, Zachary Mason