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	26-05-2014	Research functionality of ROS Packages: Gmapping and move_base
	28-05-2014	Decide: use of packages or write complete new code
	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

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).