-
Notifications
You must be signed in to change notification settings - Fork 0
/
July_22_Notes
82 lines (78 loc) · 4.41 KB
/
July_22_Notes
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
Team Meeting Notes for July 22, 2023
Verbal Discussion:
1. Can we find a way to make a project microRos Right away, through VS Code (misi : https://github.com/micro-ROS/micro_ros_platformio)
- misi: was trying to get this to work, but ran into issues
2. Reviewed the tutorials found, however many of the tutorials were for arduino ide and not ESP-idf
- as a group we decided to go down the route of using the ESP-IDF framework as it gives us access to the entire library for esp32
- these is a link to the espressIF official application examples: https://docs.espressif.com/projects/esp-idf/en/v4.3/esp32/api-reference/peripherals/i2c.html#application-example
3. We need to learn Ros2 -> RCL/RCLC -> microROS
- https://micro.ros.org/docs/tutorials/programming_rcl_rclc/overview/
4. pics for our system with nodes, are in discord in our group chat (links below)
https://cdn.discordapp.com/attachments/1062480773686513674/1132344569640538245/rn_image_picker_lib_temp_d4007cc5-5afc-4aa1-918d-7862f809babd.jpg
https://cdn.discordapp.com/attachments/1062480773686513674/1132344570080919633/rn_image_picker_lib_temp_ee2a9da5-e811-4975-96d7-dfbd068a5929.jpg
5. Need to learn Nav2 and how to run Agent
- https://navigation.ros.org/
6.
--------------------------------------------------------------------------------------------------------------------
TODO'S
TODO by Wednesday meeting:
- setup espressif-idf program on laptop
-- https://docs.espressif.com/projects/esp-idf/en/latest/esp32/get-started/
- start on this tutorial first : gpio, timers?, pwm all for the motor_driver
-- https://docs.espressif.com/projects/esp-idf/en/v4.3/esp32/api-reference/peripherals/timer.html
- Review code for lidar and libraries to start to code our own library for our project. (brittney)
- also review code from discord by jordy
- pre-Assembly rover
- have rover chassis built
- brittney will talk with librarian regarding this
- Discuss library regarding microROS
- Read through Datasheet for esp32
- improve diagram drawings for entire system
- images in discord
- Setup microsoft laptop linux (brittney)
TODO during Wednesday meeting:
- share tutorials and knowledge
- share information regarding lidar libraries for microRos
- getting pwm to work with motor driver
- to start seeting up pid control with rotarty encoders
- goal is to have pid somewhat working by the end of this meeting
TODO through the Week:
- Try to assembly the entire rover to get a feel/understanding of how everything will look together (Saturday)
- bring hotglue gun (maybe)
- update the website (bri and misi)
- update component pics with our own pics
- add team meeting notes as well
- add summary of may notes
- read a section of ros 2 documentation (jordy, misi, bri)
-- https://docs.ros.org/en/humble/index.html
- read documentation for RCL/RCLC
-- https://micro.ros.org/docs/tutorials/programming_rcl_rclc/overview/
- read documentation for Nav2
-- https://navigation.ros.org/
--------------------------------------------------------------------------------------------------------------------
NOTES:
Notes on different stages in our project:
- First stage: Rover itself
- being able to communicate with all the components on an esp32 and using microRos todo so
- Second stage: Rover communicating with (local) Server
- rover is able to communicate to with server and server is able to communicate back to rover
- Third stage: Server sending Task to Rover
- server instructs rovers on a (single) task
- Note: Stretch goal: have a user communicate with the server to do a task
- Fourth stage: Server is able to communicate with multiple rovers
- Server is sending packets to rovers and managing all that information same with rovers sending packets to Server.
--------------------------------------------------------------------------------------------------------------------
GOALS:
Goal for August or when schools starts:
- have the rover individually working
- misi will be very happy
Goal for next week:
- tutorial for encoder
- keep track of : 1. how much time has past , 2. counting
- interrupt: when it goes high
- Testing the router without internet:
- test all the components to make sure they all work.
- this means we need to solder all our components we will be using or at least have everything with us to do so.
Goal for today:
- get incontact with jordy!!!! (ASAP)
- Find and post images of project nodes for entire system