Deploy the Navigation Stack on Caffeine.

chandra-gummaluru commented 4 years ago

Description: Configure and deploy the navigation stack implementation for use with the physical robot.

Acceptance Criteria:

[ ] The physical robot should be able to avoid an obstacle placed in its path on its way to a navigational goal set in RViz.

Notes:

This task requires access to the physical robot.

AbiJaya1998 commented 4 years ago

Subtasks for this include

Potentially flash jetson with ubuntu 16.04 image
Potentially download ros kinetic on jetson board
Hope things work

Federico-PizarroBejarano commented 4 years ago

@chandra-gummaluru I don't think we're ready for this ticket. It requires a lot of making sure we can get odometry from the robot to ros to our code, configuring things, checking the lidar, etc. I don't think the physical robot will be moving for a while. If anything, this ticket should be split into a ton of smaller ones, like making sure we get odom info, making sure we can give commands to the motors, making sure we get lidar information, etc. Just connecting the jetson and the motors and our code and viewing whats happening is going to take a long time, and I won't be physically there this Saturday so I can't help

AbiJaya1998 commented 4 years ago

I'll still work on it this Saturday ......I think it really depends on where electrical is at with their stuff ........... I don't think its a problem (in fact I think we should as long as Caffeine is reasonably ready ) to start this ticket, I can test some components individually if everything is not set up Let me work on it a bit this Saturday If It becomes too much then I'll let u guys know and we can split this ticket up @chandra-gummaluru @Federico-PizarroBejarano

chandra-gummaluru commented 4 years ago

@chandra-gummaluru I don't think we're ready for this ticket. It requires a lot of making sure we can get odometry from the robot to ros to our code, configuring things, checking the lidar, etc. I don't think the physical robot will be moving for a while. If anything, this ticket should be split into a ton of smaller ones, like making sure we get odom info, making sure we can give commands to the motors, making sure we get lidar information, etc. Just connecting the jetson and the motors and our code and viewing whats happening is going to take a long time, and I won't be physically there this Saturday so I can't help

@Federico-PizarroBejarano This is a great point - my bad for overlooking it. Perhaps we could assign a small team to focus on the physical side of things, and create incremental tickets as we did with the simulated robot? Let's sync up and talk about this with @AbiJaya1998. Also, Trudie will be joining us on Saturday (hopefully as a permanent member of SLAM), and she probably has a lot more insight on the electrical side!

chandra-gummaluru commented 4 years ago

Closed. Replaced with #32.

UTRA-ART / SLAM-1920

Deploy the Navigation Stack on Caffeine. #21