Assignment 6
Due: May 10 Wednesday, 11:59pm | Canvas link (rubric & submission) | Points: 3
For this assignment you will think more about perception capabilities needed for your project and you will get started on implementing perception capabilities on the Stretch robot.
Post #13: After completing robot navigation related labs in Week 7, write a post to demonstrate your robot's basic navigation capabilities, if possible in the context of your project (e.g., if your project involves picking up something from a table, try to demonstrate the robot navigating near a table where it would be able to pick up that thing). Then write a plan for how you will handle navigation capabilities for your project with justification, i.e. whether you will use global mapping, localization, and planning; whether you will need to do local servoing to adjust the robot pose; and why.
Post #14: Draw a ROS-level system figure for your proposed project. You can think of it as a draft for the ROS node graph structure, where links between nodes indicate some form of communication. Be sure to include:
Which nodes/modules are already implemented, which need to be developed, and who will work on developing which module;
How nodes/modules will communicate with one another (messages, services, actions);
Which parts constitute the minimal viable product, and what parts are stretch goals.
Submit your response on Canvas as a link to the latest post on your team's website.
