Version 8 (modified by sreuter, 5 years ago) (diff) |
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Protocol: Team Meeting 26.01.2015
Upcoming rules for 2015
- General timeline of rulebook:
- Proposal of rules were recently published (you received a mail from Sebastian)
- First draft of Rulebook for 2015 will be ready next week - hopefully
- Final deadline of rulebook will be end of February
- Light signals:
- position of light signal on machine is different for different machines
- positions of signal for one type of machine is fixed
- Machine placement:
- machines can be placed in a certain amount of zones
- refbox announces positions of machines
- refbox does not announce orientation of machines at position
- robot has to figure out orientation, type and light-signal of machine
Team Day
- New Team day is generally Monday at 10:00 and Tuesday 10:00
Hardware
- Daniel ordered 3 Robotino V3
- FH Robotinos will only be used for RoboCup
- KBSG will buy Robotino V3 - for lab use only
- Alex asks if Robotino V2 can be used in FH lab
- Gripper
- Fablab Appointment to print adapter is tomorrow
- Nick will take over responsibility
- try USBtoDynamixel - see PantiltUnit? in Fawkes
- it might be a problem that the gripper has to compensate a roll/pitch offset (due to the uneven floor)
- Tower
- we are allowed to build an own "tower"
- Cameras:
- Light-Signal Cam
- QR Tag Cam
- Puck Cam
- Adapter
- 3x Camera Adapter
- Laser Adapter
- Gripper Adapter
- Notebook Adapter
Sofware
- Skills:
- Exploration
- Navigation
- moter move
- split motor move:
- set velocity to zero after motor move
- do not set velocity to zero after motor move
- extra (controlled) motor move - use PID-controller to arrange robot in front of smth.
- ggf. move into seperate plugin if cycle time is too long (?)
- split motor move:
- moter move
- Plugins:
- Navigation
- Colli
- will be extended by moving direction of dyn obstacles (see tracking) (Tobi)
- Tracking of dynamic obstacle (Sebastian)
- track dynamic obstacles based on laser-cluster
- guess speed and direction of dyn. obstacles by a delta of position
- use particle filter approach
- track dynamic obstacles based on laser-cluster
- Mapping
- listen for "new machine" event
- build Navgraph from map if new machine is announced
- A Voronoi graph is built from the png-map
- create a filter for edges - align edges
- Localization
- force robot to move at the beginning - to not overestimate laser data at the beginning
- laser-filter to filter walls - only laser beams that can be associated to walls will be forwarded to amcl
- Navgraph
- Navgraph-Aspect now holds A*-search
- navgraph-aspect can "simulate" search - which can be used by Agents e.g.
- cost- and eval-fact can be dynamically set
- Navgraph-plugin now has Navgraph-Aspect
- move A* costs from spatial-costs (distance) to time-costs (duration) (Matthias)
- Navgraph-Aspect now holds A*-search
- Colli
- ComputerVision?
- Signal Light Detection / Machine-Signal
- Get position of AR Tag (transform from robot to machine)
- Calculate the position of the light signal (transform from robot to signal-light)
- look for light signal at calculated position (transform from camera and light-signal)
- Puck Detection / Puck Vision
- AR Tag Detection
- extend by kalman-filter
- Signal Light Detection / Machine-Signal
- Manipulation
- Navigation
- Agent:
- split agent into modules
- e.g. ressource blocking as a seperate module
- -> enables more people to coop in agent
- do action
- create data-structure for task
- an abstract fckt can be used which uses the data-structure
- this prohibits multiple rules
- adapt to current rules
- split agent into modules
- Simulation:
- model for robotino exists
- model of grippe ris missing - "glue" pucks to robot - no phisical grasp task is required
- game logic is missing
- communication of machine positions
ToDOs misc
- look for CAD models of robotino/tower (Johannes)
- Check with profs if Verein is okay (Daniel, Tim)
- Get training facility ready at Monday 02.02.2015 - 12:30
- Move MPS/ Robotino etc from FH to Halle E1
- disassemble field - assemble MPS / construct new field
To Buy
- Gripper
- Dynamixel
- USBtoDynamixel
- 24V -> 12V Adapter
- Camera
- 3x Cams per Bot
- look for cams which can be easily mounted
- should be:
- easy mountable (rectangular)
- should bring linux driver
- cheap
Responsibilities
- Tobi:
- will help Fredi with the agent
- will adapt the colli to
- Randolph:
- Simulation
- Nick:
- Gripper
- Fredi:
- Agent refactoring
- Agent extension
- Simulation adaption
- Matthias:
- Navgraph switch costs to time
- Agent
- Johannes:
- Skill Mutti Master)
- CAD-Construction
- Kevin:
- Simulation
- Computer Vision
- PuckVision?
- Machine-Signal
- Lukas:
- Skill which adjusts offset to machine
- use control theory (pid control)
- control velocity
- Skill which adjusts offset to machine
MISC
- Vereinsgründung
- We are working on the Satzung
- Check with the profs if its okay for them that we found a "Verein"
- Training Facility
- We'll stay in the Halle E1
- Caffee Maker
- Let's buy a new one - Let's collect money