{"id":238,"date":"2024-03-31T03:53:30","date_gmt":"2024-03-31T03:53:30","guid":{"rendered":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s24-teamc5\/?p=238"},"modified":"2024-03-31T03:55:23","modified_gmt":"2024-03-31T03:55:23","slug":"yufeis-status-report-for-03-30-2024","status":"publish","type":"post","link":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s24-teamc5\/2024\/03\/31\/yufeis-status-report-for-03-30-2024\/","title":{"rendered":"Yufei\u2019s Status Report for 03\/30\/2024"},"content":{"rendered":"

What I did the week before<\/h1>\n

My last week was spent on getting kinect2_bridge<\/code>\u00a0to work with the camera.<\/p>\n

What I did this week<\/h1>\n

This week was spent on developing the mapping software for mapping from 3d point cloud to 3d voxel grid.<\/p>\n

I started with installing octomap<\/code>\u00a0and developing the mapping software on the Kria board. However, after spending some time doing this, I realized that this is not a good idea due to Kria’s limited processing capability \u2014 it’s scalar core is rather slow, which becomes a limiting factor in development, and due to Kria’s graphics driver issues (that I have noted from last week’s report) I could not use octovis<\/code>\u00a0to easily visualize the mapping and debug it visually.<\/p>\n

So then I moved to my own Linux workstation for software development. Since I have already spent some time learning octomap<\/code>, everything went smooth initially. Then, as I attempted to integrate calibration for scene mapping, I realized that it is much harder than we expected. We have talked about this in our Wednesday meeting and I have taken the advise from our faculty mentor and am now in the processing of using grids to calibrate mapping.<\/p>\n

The mapping software isn’t done yet, but I plan to get the software running stand-alone (i.e. on my workstation at least, or on Kria if I get the chance) before our interim demo.<\/p>\n

There are also some issues with packing the software as a ROS 2 node and getting it to receive point cloud data via ROS pipes. I’ll look into it as well.<\/p>\n

What I plan to be doing next week<\/h1>\n

As mentioned above, try to finish the initial developmeng of the mapping software and get it to work on my workstation. Then, figure out how to package it as a ROS 2 node and start integrate it with RRT* (this will probably take another week or so).<\/p>\n","protected":false},"excerpt":{"rendered":"

What I did the week before My last week was spent on getting kinect2_bridge\u00a0to work with the camera. What I did this week This week was spent on developing the mapping software for mapping from 3d point cloud to 3d voxel grid. I started with installing octomap\u00a0and developing the mapping software on the Kria board. … <\/p>\n

Continue reading “Yufei\u2019s Status Report for 03\/30\/2024”<\/span><\/a><\/p>\n","protected":false},"author":854,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":[],"categories":[7],"tags":[],"_links":{"self":[{"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s24-teamc5\/wp-json\/wp\/v2\/posts\/238"}],"collection":[{"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s24-teamc5\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s24-teamc5\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s24-teamc5\/wp-json\/wp\/v2\/users\/854"}],"replies":[{"embeddable":true,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s24-teamc5\/wp-json\/wp\/v2\/comments?post=238"}],"version-history":[{"count":3,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s24-teamc5\/wp-json\/wp\/v2\/posts\/238\/revisions"}],"predecessor-version":[{"id":244,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s24-teamc5\/wp-json\/wp\/v2\/posts\/238\/revisions\/244"}],"wp:attachment":[{"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s24-teamc5\/wp-json\/wp\/v2\/media?parent=238"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s24-teamc5\/wp-json\/wp\/v2\/categories?post=238"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s24-teamc5\/wp-json\/wp\/v2\/tags?post=238"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}