CSC 477 Course prep

[Ruthrash]

ToDos

• [x] Get all Hardware components of the cars
• [x] Run wallfollower code provided on sim on the real robot
• [ ] tbd

[Ruthrash]

• [x] tuning gains for wallfollower < ~5cm error + going faster
• [x] getting a map of the corridors in DH and MN. google cartographer
• [x] getting odometry, tf2 on each car and URDF on gazebo
• [x] running assignment 4 particle filter on an existing map from cartographer

[Ruthrash]

• Issues with max speed of car. currently max speed is ~0.8 m/s and not going higher even when we command. have to check out and debug vesc controller settings.
• issues with robot pose ekf fusing odom and imu. we get two errors
  • Covariance specified for measurement on topic wheelodom is zero
  • filter time older than odom message buffer
  • ref link

[Ruthrash]

• able to get usable map with cartograpjer
• Have increased max speed of cars by modifying VESC confrig
• used robot_localization EKF/UKF to fuse odometry and IMU data

[Ruthrash]

• almost all tasks for course prep is done.
• need to setup all RC cars and get TAs familiarized with using them