wiki:Carologistics/Protocol/2018-09-25

Version 6 (modified by tviehmann, 3 months ago) (diff)

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Carologistics Team Meeting September 25, 2018

Agenda

  1. Retrospective: Die Zukunft ist Heute in Austria
    • good organization, good field
    • footage available, including drone footage
    • moderation with 2 people on field (clearly visible for viewers)
    • other teams
      • ER-Force got C0 production running
      • Grips stabilized their performance
    • Carologistics
      • offset problems when positioning
      • gripping failed once and flipped the product away
      • gripping worked most of the times fine
      • relabeled cap station in refbox (cs1 to cs2), applying the wrong point cloud model to machines gives bad results
      • cap station problems like usual (wrong machine states)
      • Router crashed once
      • bug of exploration phase (getting stuck sometimes) got fixed
      • problem with one laser
      • real sense segfaults
      • goto got stuck when destination lays inside of an obstacle (fix this on skill level)
      • network simulation works (in simulation and real world)
    • event will be done again in the future (probably every other year)
    • Work for the future
      • robot memory
      • make the system more stable (also hardware wise)
      • speed up the vision
      • laser calibration
  2. Gripper Updates + Vision
    • Speed is an issue (currently >40 seconds for putting or getting a product)
      • ease up the alignment steps
        • reactive approach to prevent unnecessary alignments?
        • align gripper and robot at the same time?
    • Gripper
      • New design: 2 static fingers, spring to push the product against them
      • a lot of tolerance in depth
      • New Iteration: avoid gripping from above (not solved yet)
      • point cloud models at AGVR not working properly
        • Suggestion of Nick: record point clouds for debugging
      • Redsign the Arduino code
      • Speed up gripper motors in the future
      • use a planning approach for gripper movements? . mount real sense to the base of the gripper?
    • Vision
      • maybe use evolutionary learning approach
      • too slow currently
        • pipeline old vision, use as initial estimate for the new vision
        • enable real sense earlier
  3. Hardware Replacements
    • maybe new lasers + mounts, Nick tries to work some magic
    • maybe free 3D printing in the future (Daniel works on that)
    • Laptop of R-1 is causing problems (probably SSD)
    • have spare SSDs for every laptop
    • negotiate with Magazino for more sponsoring money/directly give hardware
    • Replace attachment of Tag Vision
    • Replacement for the wifi setup?
  4. Hackathon
    • 29th of March, at AGVR
    • future events depending on that outcome
    • LANcom as sponsor?
    • promotion aimed towards skilled students
      • require application?
      • announce in the lectures
    • close the registration early
    • Last years experience
      • Bonding did not handle the sponsors well on site
      • USB sticks were bad, address the issue again
      • stay in close correspondence
      • get the press involved at least one month prior to the event
      • make sure the website has updated information
        • it should be promoted as Hackathon NOT as Bonding Hackathon
  5. Simulation
    • Gripping pipeline not supported yet
    • Christoph continues work on in October
  6. Playing Field Update
    • Authorities at FH are slow, postponed until 2019
    • will not be ready in time for next RoboCup
  7. Code Cleanup + Merging
    • cleanup code from RoboCup
    • merge after GitHub? migration
    • assign a review buddy for pull requests
  8. GitHub Migration
    • report bugs with the issues feature with proper flags
    • integrate automatic testing
    • keep the policies in place
      • can only check, violations can not directly be prevented
    • old repos will be read-only
    • migrate trac wiki (or use static page generators)?