RoPod Minutes 16-03-17

Presence

Cesar, Wouter, Andrea, Alex, Noud, Jelle

Minute maker: Cesar

General Remarks

The "Brainstorm"-sessions are to discuss practical things and to save time by sharing the things we all need.

Which tools do we need?

The names indicate the responsibility for the several issues:

• Robot Model:
1. Kinematics and Dynamics (Andrea, Cesar).
2. Notation conventions – (Andrea, Cesar).
create document
• Simulation model
1. Use derived dynamic model: implementation in Simulink (Andrea, Cesar).
2. Use physics simulator: e.g. Gazebo - supports ROS (Not at this point)
• Environment model and representation
1. How to represent robot, obstacles and map for control (Wouter, Alex).
• Data Visualization: Robot and environment
1. Make tool in Matlab (Noud): Useful design phase
2. Rviz (Alex): Useful during testing phase – uses ROS
• Software repository (Cesar, Wouter)
1. Gitlab
2. GitHub
3. ...
• Documentation (Cesar, Wouter)
1. General documentation: We will use a wiki page
2. Code documentation:
• Doxygen? Popular in C/C++
• Universal report? Supports many languages
• Others?
• Others (All)
1. Figures for reports: We share them!
• IPE is a nice tool, it supports Latex as well
2. Plots
• We can agree on font, label tickness, etc. There are some scripts in the CST wiki that we can use: setplot.m and saver.m which can be found here .