The bulk of this week was devoted towards integration, mainly with SLAM. We were facing many linker files errors when trying to integrate the Google Cartographer system with our system in ROS. Fortunately, we did end up getting this working, but it did end up eating into a lot of our time this week. Overall, we have individual sub-systems working (detecting ArUco markers and path planning); however, we have not yet integrated these into our system due to the bottleneck of integrating the Google Cartographer system with ROS. Thus, it is difficult to say when we can start overall system tests. There may very well be a lot of tweaking to do with the software after the integration of the many parts. We are planning to come into lab tomorrow to work on integration.
ECE Capstone Project, Spring 2022: Jai Madisetty, Keshav Sangam, Raymond Xiao