wiki:Carologistics/Protocol/2015-01-26

Version 8 (modified by sreuter, 5 years ago) (diff)

caro protocol - final

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 (?)
  • 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
      • 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)
    • 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
    • Manipulation
  • 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

  • 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:
  • Lukas:
    • Skill which adjusts offset to machine
      • use control theory (pid control)
      • control velocity

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