Embedded Motion Control 2014 Group 7

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Group members

Name Email
Maurice van de Ven m dot l dot j dot v dot d dot ven @ student dot tue dot nl
Pim Duijsens p dot j dot h dot duijsens @ student dot tue dot nl
Glenn Roumen g dot h dot j dot roumen @ student dot tue dot nl
Wesley Peijnenburg w dot peijnenburg @ student dot tue dot nl
Roel Offermans r dot r dot offermans @ student dot tue dot nl

Planning

WeekDeadlineGeneral planGroupmemberSpecific task
416-05-2014Complete Corridor Challenge
- - - - -- - - - -- - - - -- - - - -- - - - -
519-05-2014Research Maze Strategies and define modules
19-05-2014 before 10:45 h.RoelResearch possibilities for wall and corner detection with OpenCV
19-05-2014 before 10:45 h.GlennResearch possibilities for wall and corner detection with OpenCV
19-05-2014 before 10:45 h.WesleyResearch possibilities for arrow detection with OpenCV
19-05-2014 before 10:45 h.MauriceResearch possibilities for path planning and path tracker/driver
19-05-2014 before 10:45 h.PimResearch possibilities for path planning and path tracker/driver
- - - - -- - - - -- - - - -- - - - -- - - - -
626-05-2014Research functionality of ROS Packages: Gmapping and move_base
28-05-2014Decide: use of packages or write complete new code
30-05-2014Conceptual version of all modules are finished
- - - - -- - - - -- - - - -- - - - -- - - - -
706-06-2014Integration of the modules
- - - - -- - - - -- - - - -- - - - -- - - - -
813-06-2014Final presentation of the Maze Strategy
- - - - -- - - - -- - - - -- - - - -- - - - -
920-06-2014Maze Competition

Progress

Name Week 3 Week 4 Week 5 Week 6
Maurice van de Ven All tutorials, not all C++
Pim Duijsens All tutorials, but not all C++
Glenn Roumen All tutorials
Wesley Peijnenburg Tutorial #7
Roel Offermans All tutorials, not all C++


Time Table

Overview of time spent per group member
Lectures Group meetings Mastering ROS and C++ Preparing midterm assignment Preparing final assignment Wiki progress report Other activities
Week 1
Pim 2
Roel 2
Maurice 2
Wesley 2
Glenn 2
Week 2
Pim 2 2 4 3
Roel 0 2 10 6
Maurice 2 2 6 3
Wesley 2 2 4 2
Glenn 2 2 5 2
Week 3
Pim 2 1 12 2
Roel 2 4 10 2
Maurice 3 10 4
Wesley 2 3 10 1
Glenn 2 2 13 4
Week 4
Pim 2 5 1 7 3
Roel 2 5
Maurice 5 15
Wesley 2 5 9 1
Glenn 2 5 6 1
Week 5
Pim 2 2.5 7 0.5
Roel
Maurice 2
Wesley 2 5 7 3
Glenn 2
Week 6
Pim
Roel
Maurice
Wesley
Glenn

Different nodes and flow chart

Step 1.


Strategy for the Corridor Challenge

Step 1.
Step 2.
Step 3.
Step 4.
Step 5.
Step 6.
Step 7.
Step 8.

GMapping / SLAM

GMapping is being investigated as SLAM algorithm.

In order to run GMapping and transform the base_frame correctly, the following command should be used;

rosrun gmapping slam_gmapping scan:=/pico/laser _base_frame:=/pico/base_link

Viewing tf tree:

$ rosrun tf view_frames

Runnig Gmapping and move_base:

1. Startup gazebo and pico

2. In same terminal:

$ roscd pico_2ndnav
$ roslaunch move_base.launch

3. In another terminal run gmapping:

rosrun gmapping slam_gmapping scan:=/pico/laser _base_frame:=/pico/base_link _odom_frame:=pico/odom

Remarks In local_costmap_params.yaml static_map should be false. (As a local costmap should not be static, it moves with the robot)

In costmap_common_params.yaml inflation_radius should probably be smaller than 0.55, the robot has a much smaller radius (in safe_drive we used 0.25 if i remember correctly?)

In pico_configuration.launch We should look very closely to the pkg and type that are used (for example, shouldn't the types end with .msg). Furthermore, it seems like it wants to run the messages as an executable, this is probably not our intention).