Autonomous vehicle project repo of Advanced Robotics
Team members: Yang, Radhen, Jay, Ao and Yueming
Please get your tasks and update your progress on the project in the Progress section
* Setup regular meeting schedule for the rest of the time
* Report your recent progress
* Share ideas
* Can you publish imu message
* What is in the pid-control folder
* Smoothly
* What should we do with the out-range measurements
* Use 'libuvc_camera' to publish camera image and info
* Use the 'camera_calibration' package to calibrate our lens-fixed fisheye camera
* We now use 'orb-slam2' to do visual slam
* Need to publish to '/VO' topic
* Image delay when I try it
* No worry about distance
* How to detect the ball -- blob detector?
Format:
* Name
* What you have done
* What you are doing
* Some of your ideas
- Done with the camera ROS node (now we switch back to
libuvc_camera
) - Done with the camera calibration
- Get ORB-SLAM2 working with oCam
- Working on visual-inertial SLAM
- Need to let orb-slam publish data to topic
/vo
(visual odometry) - Need to get robot-pose-ekf sub to
/vo
and/imu
and publish to/odom_combined
- Test loop closure of ORB-SLAM2
- Got ros_pololu_servo package working for steering
- Wrote PID controller for steering
- Need to set the gains for real run to drive in straight line
- Plan to integrate thrust motor with the ros_pololu_servo package
- Need to write code to take right angle turns
- Got IMU to publish at IMU topic
- Tested IR sensors on arduino
- Tested Buck converter
- ORB-SLAM2 successfully running on odroid
- How to identify a drivable area
- Controller design using feedback from camera
- Working on stop-sign detection
- be able to detect the stop-sign but still need the distance informance
- Working on rolling ball detection
- Working on rolling ball detection
- Stop in front of stop-sign
- Avoid a rolling ball
- Visual inertial SLAM
Below is the brief description of the competition:
![competition description][pics/competition_description.JPG]
Note since the second meeting (April 7, 2017):