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sgang007 / sangi1.0

Sangi is a low cost autonomous robot which used Ultrasonic sensors to perform localization and mapping of the environement
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Sonar parameters #6

Closed gsssrao closed 9 years ago

gsssrao commented 9 years ago

I have added the sonars in the pull request #5 . What should the parameters be like the field of view and all. Also, should the noise be modified.

sgang007 commented 9 years ago

Can you put a screenshot of your model in this pull request.. The field of view would be 10-15 degrees. Keep some noise in the readings. Prepare the basic model. We can change the parameters while we are testing our algorithms

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On Wed, May 20, 2015 at 10:23 PM, Srinivas notifications@github.com wrote:

Assigned #6 https://github.com/sgang007/sangi1.0/issues/6 to @sgang007 https://github.com/sgang007.

— Reply to this email directly or view it on GitHub https://github.com/sgang007/sangi1.0/issues/6#event-309741166.

Shubhojyoti

gsssrao commented 9 years ago

Screenshots: Bot screenshot from 2015-05-20 22 50 29 Environment/World screenshot from 2015-05-20 22 51 13

By the way, sorry I did not see the conflicts earlier. There are some conflicts regarding the readme and the package.xml Could you solve them. I have also added the gas station world. The README.md contains info on how to add models to gazebo. The sonars were from the following link on this page I have just tweaked the sonar a little.

sgang007 commented 9 years ago

Is there any particular reason why you forked the repo and are using pull request. You are working together in this project and it will not be a one time contribution.

I would suggest you clone the repo directly from my account and push your commits there. That would avoid most of the merge conflicts.

Pull requests are generally the way done when you are contributing only for a short period of time independently in an open source project.

Our project is close source and you are a part of the team.

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On Wed, May 20, 2015 at 10:58 PM, Srinivas notifications@github.com wrote:

Screenshots: Bot [image: screenshot from 2015-05-20 22 50 29] https://cloud.githubusercontent.com/assets/9698886/7732091/cdf18a56-ff42-11e4-96a9-f9265005c8c2.png Environment/World [image: screenshot from 2015-05-20 22 51 13] https://cloud.githubusercontent.com/assets/9698886/7732101/de4acb7e-ff42-11e4-829a-29ebb2a2a809.png

By the way, sorry I did not see the conflicts earlier. There are some conflicts regarding the readme and the package.xml Could you solve them. I have also added the gas station world. The README.md contains info on how to add models to gazebo. The sonars were from the following link https://github.com/tu-darmstadt-ros-pkg/hector_models/blob/groovy-devel/hector_sensors_description/urdf/sonar_sensor.urdf.xacro on this page http://wiki.ros.org/hector_sensors_description I have just tweaked the sonar a little.

— Reply to this email directly or view it on GitHub https://github.com/sgang007/sangi1.0/issues/6#issuecomment-103968548.

Shubhojyoti

gsssrao commented 9 years ago

I felt that you would like to monitor all the work(the commits in the main repo). So, I forked it and was creating pull requests.

sgang007 commented 9 years ago

Even if you push directly, the commits can still be seen. There is an option to see commits from each contributor.

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On Wed, May 20, 2015 at 11:06 PM, Srinivas notifications@github.com wrote:

I felt that you would like to monitor all the work(the commits in the main repo). So, I forked it and was creating pull requests.

— Reply to this email directly or view it on GitHub https://github.com/sgang007/sangi1.0/issues/6#issuecomment-103970100.

Shubhojyoti

gsssrao commented 9 years ago

The idea was that unnecessary commits were prevented in the main repo. Pull requests help to monitor the work better for you. If someone did some mistake it would be easier to find if there were only a few pull requests, rather then you checking each commit(if people were working on the main repo).

sgang007 commented 9 years ago

Yeah...okay..

Its not bad.

Just that merge conflicts are a headache.

Anyways, I will fix it. You can continue working in your fork.

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On Wed, May 20, 2015 at 11:15 PM, Srinivas notifications@github.com wrote:

The idea was that unnecessary commits were prevented in the main repo. Pull requests help to monitor the work better for you. If someone did some mistake it would be easier to find if there were only a few pull requests, rather then you checking each commit(if people were working on the main repo).

— Reply to this email directly or view it on GitHub https://github.com/sgang007/sangi1.0/issues/6#issuecomment-103971904.

Shubhojyoti

gsssrao commented 9 years ago

Sorry, I will keep merging with the upstream before giving a pull request. Are the sonar positions ok? I was able to find only one model of sonar given in the above link. Is that one right?

sgang007 commented 9 years ago

Keep one sonar in front and two on either side.. it would be give more variability in readings

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On Wed, May 20, 2015 at 11:20 PM, Srinivas notifications@github.com wrote:

Sorry, I will keep merging with the upstream before giving a pull request. Are the sonar positions ok? I was able to find only one model of sonar given in the above link. Is that one right?

— Reply to this email directly or view it on GitHub https://github.com/sgang007/sangi1.0/issues/6#issuecomment-103973043.

Shubhojyoti

sgang007 commented 9 years ago

Our robot is mainly to be used for indoor navigation. So instead of a gas_station, you can put an indoor world. _Do not put this world in empty_world.launch. Make a seperate launch file like gas_station_world.launch for this purpose. The sangiworld is for quickly launching the model with least resources

gsssrao commented 9 years ago

I have created a new world named indoor.world but it is taking time to load so I changed the default to empty.world. Here are the images screenshot from 2015-05-22 16 07 03

screenshot from 2015-05-22 16 12 18

gsssrao commented 9 years ago

Have a look at the pull request and merge it. Then, we can close this issue.

sgang007 commented 9 years ago

Done