Summer 2017
Tanya's Goals:
Tanya's Goals:
- Set up IMU (install firmware on board, install software libraries/tools on Jetson, and calibrate.)
- Develop ROS application to estimate and output odometry using only IMU data.
- Add IMU odometry to enable the ROS amcl package (adaptive Monte Carlo localization algorithm).
- Obstacle detection using ZED camera only.
- Odometry estimation using ZED camera only.
- Improved odometry package using both IMU and ZED data.
- {there will be more...}
This week's tasks:
This week's tasks:
Goals 1-2, 4
Goals 1-2, 4
- Pursue the plan of action discussed here.
- Look at the firmware code for the SEN-14001 and the Arduino libraries (all in the SparkFun repo). Find out/implement the changes are needed in programming from the Arduino side in order to obtain outputs/message types that are of the same form as the ROS message type for odometry*.
- * also please tell me what this message type is. Is there only one used? Are there different variations? What was used in the original
razor_imu_9dof
ROS package? - If the prior step works, look at the teensyduino firmware code for an example of using rosserial to communicate between a serial device and ROS. Then add this to the Arduino code for the IMU. So we will have two serial devices overall: IMU and TeensyDuino.
- If previous step works out, load the firmware file on the actual hardware. Test out the code you modified from the previous step to get odometry messages on the ROS side.
- Survey and compare existing algorithms for obstacle detection using stereo cameras
Completed tasks:
Completed tasks:
- Write ROS code for odometry estimation using IMU data.
- Find and use rosbag data to calibrate/test this code.
Nicole's Goals:
Nicole's Goals:
- Adjust chassis design and figure out alternative material/production method.
- Assemble TeensyDuino breakout board for the second car.
- Work with Tanya to get the new IMU part functioning.