Assignment 6

Due: May 12 Monday, 11:59pm | Canvas link (rubric & submission) |  Points: 4

For this assignment you will work on navigation capabilities of the Stretch and start planning the ROS architecture for your project implementation. 

• Post #14: After completing robot navigation related labs in Week 6, 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 #15: 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.