--- title: Spring Status Update Meeting 1/11/22 tags: meeting-notes --- ## Spring Status Update ### High-level - We have a behavior tree put together, but not easy to test, so will create small, simplified version that we can test with current progress - Replicate test done in [Localization Testing 12/11](/6XY5TALWSKm0IeOVIyKs4g) using behavior tree to test full autonomy - Add API to each subsystem (add README docs for clarity) - ROS service/action to relay information to behavior tree: - distance to goal - which area of field is robot in - is bin full ### Localization - Refer to [Localization Testing 12/11](/6XY5TALWSKm0IeOVIyKs4g) for test resuts - Yet to integrate bluetooth beacons - Problems with recognizing beacons on jetson, but works fine on computer - Yet to try wheel odometry (not possible with our hardware) ### Navigation - Can now build a 3d voxel grid map with pointcloud input (projects to 2d occupancy grid) - uses https://octomap.github.io/ - have to filter PC to populate correctly, need to integrate lidar scan data - https://dev.intelrealsense.com/docs/depth-post-processing - https://navigation.ros.org/concepts/index.html#costmap-filters - Path planner, path following? - https://arxiv.org/pdf/1105.1186.pdf - Update on crater/boulder object detection - Sameeha? Any blockers? ### Control - Not much real progress here - Need to finalize architecture (what code does what and where does it run?) of these subsystems - Yet to implement control for excavation, deposition, moving linear actuators - Arduino/C/C++ yay! - who wants to take point here? - Teensy - velocity of wheel - excavation - current feedback: keep voltage within certain range (low-not digging, high-burning out motors) - when to stop excavating - weight sensor reaches threshold - Jetson - lining up robot with the apriltags ### Robustness - Need to protect cameras from the regolith - vibrating the camera to shake off regloith (ordered the vibrating cells, need to test) - "eyelid/eyelashes" of some sort - Need to protect encoders from the regolith