Embedded Motion Control 2013 Group 2

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Group Members

Name: Student id: Email:
Joep Alleleijn 0760626 j.h.h.m.alleleijn@student.tue.nl
E. Romero Sahagun 0827538 e.romero.sahagun@student.tue.nl
L. Galindez Olascoaga 0867854 l.i.galindez.olascoaga@student.tue.nl
Koen Meeusen 0657087 k.a.meeusen@student.tue.nl
Onur Albert Aslan 0865471 o.a.aslan@student.tue.nl

Planning

Week: Activities:
Sep 2 - Sep 8
Start ROS & C++ tutorials
Prepare software (Ubuntu, ROS, Gazebo, etc..)
Project planning & brainstorming
Sep 9 - Sep 15
Conclude software troubleshoot.
Start simulations in Gazebo for sensors and actuators identification.
Sep 16 - Sep 22
Code implementation for Corridor Competition, tests on simulation.
First real robot trial (Sep 19, 11.00 - 12:00 hrs)
Sep 23 - Sep 29
Last minute preparations for Corridor Competition
Second real robot trial (to schedule..)
Corridor Competition (Sep 25)
Sep 30 - Oct 6
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Oct 7 - Oct 13
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Oct 14 - Oct 20
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Oct 21 - Oct 27
Maze Competition (Oct 23)

Progress

Week 1: September 2 - September 8

Software installation
Problems in software installation, a meeting with our tutor has been scheduled for revision of these issues.

Week 2: September 9 - September 15

Questions for tutor session on September 10
Simulated laser data (Laura and Joep)
Output of the laser simulation with Rviz

Structure message from laser: frame_id: /pico/laser angle_min = -2.35738992691rad (approx 134 degrees) angle_max = 2.35738992691rad (approx 134 degrees) angle_increment = 0.00436553684995 time_incremetn

Header header # timestamp in the header is the acquisition time of 

                        # the first ray in the scan.
                        #
                        # in frame frame_id, angles are measured around 
                        # the positive Z axis (counterclockwise, if Z is up)
                        # with zero angle being forward along the x axis

float32 angle_min # start angle of the scan [rad] float32 angle_max # end angle of the scan [rad] float32 angle_increment # angular distance between measurements [rad]

float32 time_increment # time between measurements [seconds] - if your scanner 

                        # is moving, this will be used in interpolating position
                        # of 3d points

float32 scan_time # time between scans [seconds]

float32 range_min # minimum range value [m] float32 range_max # maximum range value [m]

float32[] ranges # range data [m] (Note: values < range_min or > range_max should be discarded) float32[] intensities # intensity data [device-specific units]. If your 

                        # device does not provide intensities, please leave
                        # the array empty.


Questions: sample frequency system/laser?

Week 3: September 16 - September 22

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Week 4: September 23 - September 29

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Week 5: September 30 - October 6

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Week 6: October 7 - October 13

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FAQ & Doubts

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