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November 5, 2021

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Will Heitman edited this page Nov 20, 2021 · 7 revisions

⟵Past week | Future week⟶

Reminders

  • Everyone can update this document as needed
  • Move your Issues to the appropriate ZenHub columns and add details to your Issue as comments

Rosbags

  • New rosbags are available on the Quad at /home/share/bags
  • Copy these bags to your home directory as needed
  • Run with ros2 bag play [rosbag2...]/[rosbag2...db3]
  • Documentation is available online and in the CLI (ros2 bag play -h)
  • A manifest is available at /home/share/bags/README.md. It looks something like this:
name duration (s) size (GB) topics comments
rosbag2_2021_10_09-13_42_10 139 0.68 Fused Lidar
rosbag2_2021_11_07-23_45_57 95 6.6 GPS, Raw Lidar, TF_S, ZED2
rosbag2_2021_11_08-00_01_29 54 2.9 TF_S, ZED2
rosbag2_2021_11_08-00_03_10 82 5.5 TF_S, ZED2
rosbag2_2021_11_08-00_04_38 61 3.4 TF_S, ZED2
rosbag2_2021_11_08-00_05_44 534 28.9 TF_S, ZED2

Open Lab

After speaking with other members, it seems there's an interest in having a set time where people can come and work on their tasks in a team environment.

We will be holding "Open Lab" hours in our upstairs lab, ECSW 2.445, from 6:30-8:30pm on Mondays and Wednesdays, starting this Wednesday, 11/10. These times will likely be adjusted over time, we'll see how it goes.

This is a great way to have any questions answered or collaborate with your teammates. Hope to see you there!

Member updates

Quinn (Education and Outreach)

  • Quinn will work with other members to take their technical work and convert it into approachable, valuable lesson plans for a high school setting.

Avery (Firmware)

  • Turn GPS data into full ROS node (now functional)
  • GPS node now just requires cleanup
  • Node can publish GPS position, velocity, and heading

Vishvak (Mapping)

  • Focusing on fixing our mapping pipeline, which starts with turning live Lidar data into a fused map, moves to aligning the PCD map with the Lanelet map/satelite data, then PCD cleanup and stitching

  • Working to deliver live mapping demonstation by the end of the Sprint, likely using exisiting libraries and either our data or a public dataset

  • Cleanup of existing map publishers and/or development of new map publishers will wait until future Sprint

    • Includes optimizing map data delivery to only publish needed map regions

Dylan (Public Relations)

  • Will write spotlight articles on members weekly

  • Planning collaboration with IEEE

  • Also connected with friends in ACM, WIE

  • Will begin providing project updates on our lab's Surface Hub, meant for window watchers

  • Wants to take pictures and video of Hail Bopp at work

Josh (Software Architecture)

  • Nice new readme for Navigator has been pushed to dev branch, will move to main at end of Sprint

  • Bare-bones safety manager nearly complete

    • Based on ROS services, not publish-subscribe system. Services use a call-and-response approach that provides acknowledgement of receipt; this is safer for critical systems.
    • Safety events from nodes will be followed by acknolwdgement from Safety Manager.

  • Will be updating test_utils to add test client support

  • Adding GitHub Actions functionality to codebase, including automatic tests

Phu (Technical Art)

  • Rough draft of 3D model in progress
    • Using Blender, which is freeform rather than precision
  • Looking into precision modeling using Blender, which will make our model dimensionally accurate
  • Modelng ZED cameras

Model draft in progress

Above: Car model draft in progress

Logo revisions

Above: More logo concepts from Phu

Connor (Virtualization)

  • Added cameras to sim vehicle
  • Added file backup system

Raghav (Web Interface)

  • Aim to not use raw console, use frontend console instead
  • Ready to merge some code to dev branch
  • Working on core communication protocol
  • Working with Phu, Perception to determine how 3D data will be visualized

Will (Team Lead)

  • ZED front cameras are both mounted using custom, 3D-printed parts
  • ZED 2i (front) is online with a custom Docker image
    • ZED SDK and ROS wrapper need to be in custom image, as they require the L4T Ubuntu 18.04 upstream image that our main stack does not support.
      • 18.04 is EOL, but it's the only way the ZED SDK will run
    • Object Detector not fully tested
    • Rear ZED not online yet
    • Need to push Docker image to Docker Hub or GitHub Container Repository

Behavior Planning and Controls

  • Jim
    • Goal: Set up path planning this sprint so that costs are assigned in next sprint
    • Two types of curve: one models environement like centerlines and curbs, other models potential paths that car generates
  • Egan
    • Working on route planner, cleaning up Autoware code and adding lane change cpabilities
    • Route planner fully document
    • Need to visualize route data, including lane changes
  • Cristian
    • Will derive math for car kinematic model
      • This is used for MPC, defines physical constaints for car

Perception

  • Rae
    • 3D object detection methods
    • SSD or YOLO? Will check after YOLO implementation
  • Kyle
    • Localization: Comparing NDT and other
    • If we want to use YOLO, use v4. ZED supports v4 models

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