---
# System prepended metadata

title: Spring Status Update Meeting 1/11/22
tags: [meeting-notes]

---

---
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