Embedded Motion Control 2014 Group 7

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

Week	Deadline	General plan	Groupmember	Specific task
4	16-05-2014	Complete Corridor Challenge
- - - - -	- - - - -	- - - - -	- - - - -	- - - - -
5	19-05-2014	Research Maze Strategies and define modules
	19-05-2014 before 10:45 h.		Roel	Research possibilities for wall and corner detection with OpenCV
	19-05-2014 before 10:45 h.		Glenn	Research possibilities for wall and corner detection with OpenCV
	19-05-2014 before 10:45 h.		Wesley	Research possibilities for arrow detection with OpenCV
	19-05-2014 before 10:45 h.		Maurice	Research possibilities for path planning and path tracker/driver
	19-05-2014 before 10:45 h.		Pim	Research possibilities for path planning and path tracker/driver
- - - - -	- - - - -	- - - - -	- - - - -	- - - - -
6	30-05-2014	Conceptual version of all modules are finished
- - - - -	- - - - -	- - - - -	- - - - -	- - - - -
7	06-06-2014	Integration of the modules
- - - - -	- - - - -	- - - - -	- - - - -	- - - - -
8	13-06-2014	Final presentation of the Maze Strategy
- - - - -	- - - - -	- - - - -	- - - - -	- - - - -
9	20-06-2014	Maze 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

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