Most significant risks: We feel pretty good about our progress on mapping and navigation. It has improved significantly in the last 2 weeks. Now, we need to properly implement running detection and make a physical test environment.
Changes to the system: We realized that our odometry sensor was rotated 90 degrees off of where it should be, which contributed to our general navigation issues. Thankfully, correcting this was simple. We flipped X and Y and then negated X. Something else that we worked on was changing the size of obstacles seen on the cost map and adjusting the robot size to have better navigation control. We also created new maps that were cleaner that better represented areas that the robot would be navigating in. We Also, tested the pan tilt for 3 directions fully as well.
We also printed a cable shroud to attach to the back of the robot. This does not accomplish anything functional, and is really just there to look nicer.
No changes in our schedule have occurred.