wiki:Carologistics/Protocol/2019-03-28

Version 4 (modified by tviehmann, 3 weeks ago) (diff)

--

Preparation for German Open Prototype (continued 04-04-2019):

  • General
    • revisit github issues (done)
    • sort by urgency, longterm/shortterm -> milestone for GO (done)
  • Agent
    • mainly the old agent
    • adapt to goal trees
    • switch form legacy to mongocxx driver
    • enter field
  • Gripper
    • new transforms (x,y,z) (done)
    • axis blocks part of view
    • add support to sustain motor weight
    • Changes to laser postion
      • new transforms (done)
      • connect lasers via ethernet
        • may needs changes to software, because robotino cannot be connected to laptop via ethernet directly anymore
        • may cause troubles with ARP tables (probably not)
    • gripper works with current plugins
    • Adapt and tune light sensor for workpiece detection
    • Finalize construction and assemble the bots
    • maybe buy faster axis (like 100-200€ per piece)
  • Conveyor Vision
    • take initial pose from conveyor plane
      • if plane is not present, fall back to laserline
    • testing, debug fail cases of ICP
  • New laser position
    • laser filter (adapt to new laser positions) (done)
    • check whether changed position has impact on localization
  • Wifi Setup
    • Test possibility: Use our APs to emulate robocup settings
    • Use APs from bots as backup
    • Test setup before GO
  • Skills
    • conveyor-align needs rework
  • Misc
    • take training pictures during games
      • extra plugin to trigger photos
      • low priority (good task for new people)
    • revisit shut off procedure of real-sense
    • get other bots ready for testing
      • hardware is ready
        • igus replacement parts can wait until after GO
      • print stuff asap
        • bring printer from FH
        • Davids printer is here
        • print gripper once wp picks were tested
      • improve cable management
        • cable tunnels