Jan 14, 2022

⟵Past week | Future week⟶

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Timeline

From our overview page, with upcoming events in bold:

Sprint	Dates	Completed checkpoints
1	10/29-11/18	Laying foundation
2	11/19-12/9	A
3	12/10-1/6	A
4	1/7-1/27	A, B
5w1	1/28-2/3	A, B, C
5	1/28-2/17	A, B, C, D, E
6	2/18-3/10	A, B, C, D, E, F
7	3/11-3/31	A, B, C, D, E, F, G
8	4/1-4/21	A, B, C, D, E, F, G, H
9	4/22-4/29	Testing week

Our focus is on our next two checkpoints:

• Checkpoint B, in less than two weeks, is full path planning along the 2 mile loop.
  • Path planning should be tested and working on SVL's GoMentum Station map by Sunday, January 23rd.
• Checkpoint C, just one week later, is full self-steering along the whole loop.

Immediate roles

Checkpoint C has the following flow:

State Estimation -> Route & Path -> Steering Command -> Physical Actuation

Here are our responsibilities for the next three weeks:

• Jim and Egan will handle our path and route planning

• Cristian and Nikhil will develop a simple steering controller to convert our path into commands.

  • The controller will be refined or replaced later on

• Avery will:

  • Make refinements to our GPS interface to output chip's High Navigation Rate data
  • Refine or rewrite EPAS interface
  • Move Jetson rootfs to SSD

• Kyle will revise our Lanelet map of the Grand Loop to align with the point cloud data, and ensure that our Lanelet map is properly visualized in Rviz.

• Rae will finalize ZED-based obstacle detection of cars and pedestrians

  • Can make use of SVO files on Quad for testing

• Raghav will visualize obstacle detection results in a minimal interface, e.g. a minimap or a simple list of detected objects.

  • Ideally should visualize relative position and direction of motion.

• Dylan will be taking pictures and videos of our development, testing, and final demonstration of Checkpoint C. He is also creating a team Instagram where updates will be posted.

• Quinn will develop a script and conduct interviews for an explanatory video to be posted after Checkpoint C. He will work with Dylan to edit and post the video.

• Phu will add his 3D model to our URDF file, allowing us to visualize Hail Bopp in Rviz. He will also export the car to SVL, including adding joints.

• Connor will

  • Ensure that new SVO files and rosbags are organized and documented on the Quad.
  • Revise sensor config of SVO car to match sensor placement of Hail Bopp.
  • Be ready to assist with virtual testing questions or issues.

• Josh and Will will be ready to answer questions and assist with setbacks. They will also faciliate real-world testing.