Description
See the subsystem description page for overview:
Fall 2021
Focused on full integration of all subsystems: vision, voice, actuated manipulation, and main state machines. Debugged and resolved through multiple edge case scenarios for final use case demonstration.
- Created internal state machine for actuated manipulation system
- Merged together Move-It trajectory planning and resolved rate stabilization
- Refactored vision subsystem during integration to send local goals to actuated manipulation system
- Incorporated safety features between hardware, voice, and actuated manipulation subsystems
- Added bug and error handling to subsystems as necessary during integration”
Spring 2021
Demonstrated functional integration between vision, voice, and actuated manipulation subsystem during SVD encore. Pipeline between subsystems primarily consists of ROS publisher/subscriber setups.
Updated ROS Node map after consultation from senior students about implementing ROS into CoBorg.
Fall 2020
Ubuntu 18.04 and ROS Melodic installed on portable workstation.
Schedule and technical roadmap draft built for subsystem. These include functional and cyberphysical architectures.
As-Is CoBorg was examined. MATLAB framework was built into As-Is system in order to connect wireless controller inputs to HEBI motor outputs.