This week I made significant progress on my capstone project across several fronts.
On the perception side, I developed pan-tilt camera code that reacts to LiDAR detentions within 0.3 meters, orienting the camera toward nearby objects to determine whether they are people. I also set up a GitHub repository for the project to keep everything backed up and version-controlled.
On the navigation and hardware side, I continued testing Nav2 and ran additional experiments to evaluate its behavior in real-world conditions. I also swapped out the previous motors for VNH motor drivers and began testing the robot with them for the first time, verifying that the new hardware performs as expected.