{"id":81,"date":"2016-09-14T07:27:10","date_gmt":"2016-09-14T11:57:10","guid":{"rendered":"http:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/?page_id=81"},"modified":"2017-05-13T02:15:55","modified_gmt":"2017-05-13T06:45:55","slug":"component-testing-and-experimental-results","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/performance\/component-testing-and-experimental-results\/","title":{"rendered":"Component Testing"},"content":{"rendered":"<ul>\n<li>Calibrated IMU interfacing with GUI on ROS<\/li>\n<li>Hokuyo Lidar interfacing with ROS, Hector SLAM creating map\n<ul>\n<li><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-298\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-content\/uploads\/sites\/15\/2016\/11\/20161026_174000-300x225.jpg\" alt=\"20161026_174000\" width=\"300\" height=\"225\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-content\/uploads\/sites\/15\/2016\/11\/20161026_174000-300x225.jpg 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-content\/uploads\/sites\/15\/2016\/11\/20161026_174000-768x576.jpg 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-content\/uploads\/sites\/15\/2016\/11\/20161026_174000-1024x768.jpg 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-content\/uploads\/sites\/15\/2016\/11\/20161026_174000-285x214.jpg 285w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/li>\n<\/ul>\n<\/li>\n<li>Robot dynamics parameters (for simulation)\n<ul>\n<li>Wheelbase (front to rear wheels) = 0.255m<\/li>\n<li>Wheel width = 0.175m<\/li>\n<li>Mass = 2622g<\/li>\n<li>Front wheels to COM = 0.135m<\/li>\n<li>COM to rear wheels = 0.122m<\/li>\n<li>Footprint = 0.3m x 0.43m<\/li>\n<li>Lidar scanning plane: 0.127m<\/li>\n<li>Robot height = 0.145m<\/li>\n<\/ul>\n<\/li>\n<li>Characterized PWM commands to real world robot velocities\n<ul>\n<li><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter  wp-image-382\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-content\/uploads\/sites\/15\/2016\/09\/speed-vs-PWM.png\" alt=\"speed-vs-pwm\" width=\"394\" height=\"248\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-content\/uploads\/sites\/15\/2016\/09\/speed-vs-PWM.png 739w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-content\/uploads\/sites\/15\/2016\/09\/speed-vs-PWM-300x189.png 300w\" sizes=\"auto, (max-width: 394px) 100vw, 394px\" \/><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n","protected":false},"excerpt":{"rendered":"<p>Calibrated IMU interfacing with GUI on ROS Hokuyo Lidar interfacing with ROS, Hector SLAM creating map Robot dynamics parameters (for simulation) Wheelbase (front to rear wheels) = 0.255m Wheel width = 0.175m Mass = 2622g Front wheels to COM = 0.135m COM to rear wheels = 0.122m Footprint = 0.3m x 0.43m Lidar scanning plane:&hellip;&nbsp;<\/p>\n","protected":false},"author":55,"featured_media":0,"parent":565,"menu_order":2,"comment_status":"closed","ping_status":"closed","template":"","meta":{"neve_meta_sidebar":"","neve_meta_container":"","neve_meta_enable_content_width":"","neve_meta_content_width":0,"neve_meta_title_alignment":"","neve_meta_author_avatar":"","neve_post_elements_order":"","neve_meta_disable_header":"","neve_meta_disable_footer":"","neve_meta_disable_title":"","footnotes":""},"class_list":["post-81","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-json\/wp\/v2\/pages\/81","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-json\/wp\/v2\/users\/55"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-json\/wp\/v2\/comments?post=81"}],"version-history":[{"count":8,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-json\/wp\/v2\/pages\/81\/revisions"}],"predecessor-version":[{"id":413,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-json\/wp\/v2\/pages\/81\/revisions\/413"}],"up":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-json\/wp\/v2\/pages\/565"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-json\/wp\/v2\/media?parent=81"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}