Future Steps

The next step for the perception aspect of the project would be to move from the simulated environment (Gazebo) to the real robot. In order to do this, the thresholds for the color masks for each block would likely need to be adjusted due to lighting conditions. Also, the Locobot camera would be used to take images at a particular frequency as the robot moves, and these images would be used in the main perception code to constantly update the block locations.

The subsequent phase involves addressing human safety concerns and accounting for dynamic factors during the robot's motion. Several potential scenarios must be considered:

1. In situations where humans enter the robot's workspace, the system should either update its trajectory planning or halt its operation, depending on the predicted human movement.

2. The implementation of a fail-safe mechanism using the robotic arm, if feasible, to prevent potential hazards.

By focusing on these aspects, we can enhance the safety and reliability of the robotic system while ensuring efficient operation in dynamic environments.