What I did the week before

Wrote RRTComms and worked on camera calibration.

What I did this week

I improved camera calibration and solved the inversed mapping from perception data to real-world 3d coordinates by using pcl‘s transformation matrices.

I also worked with Matt to come up with a communication protocol between the laptop and the Ultra96v2 board. This is because we tried UART but it was not always working and sometimes we get garbled data. So we designed a straightforward synchronization state-machine between the laptop and the board for transferring data asynchronously. The state machine was implemented as a shell script for now, but we will need to port it to ROS.

The rest of the time was spent on ROS improvements (adding services, messages, etc. instead of hardcoding parameters).

What I plan to be doing next week

Finish porting the shell script to ROS. Work with Chris to port the kinematics module to ROS. Help with overall integration. And fine-tune the perception module for our demo scene.