{"id":371,"date":"2021-03-11T22:58:30","date_gmt":"2021-03-12T03:58:30","guid":{"rendered":"http:\/\/mrsdprojects.ri.cmu.edu\/2021teamc\/?page_id=371"},"modified":"2021-12-11T13:55:22","modified_gmt":"2021-12-11T18:55:22","slug":"software-framework","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamc\/system-implementation\/software-framework\/","title":{"rendered":"Software Framework"},"content":{"rendered":"\n<h2 class=\"wp-block-heading\">Description<\/h2>\n\n\n\n<p>See the <a href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamc\/system-design\/sub-system-description\/\">subsystem description page<\/a> for overview:<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Fall 2021<\/h2>\n\n\n\n<p>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. <\/p>\n\n\n\n<ul class=\"wp-block-list\"><li>Created internal state machine for actuated manipulation system<\/li><li>Merged together Move-It trajectory planning and resolved rate stabilization<\/li><li>Refactored vision subsystem during integration to send local goals to actuated manipulation system<\/li><li>Incorporated safety features between hardware, voice, and actuated manipulation subsystems<\/li><li>Added bug and error handling to subsystems as necessary during integration&#8221;<\/li><\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">Spring 2021<\/h2>\n\n\n\n<p>Demonstrated functional integration between vision, voice, and actuated manipulation subsystem during SVD encore. Pipeline between subsystems primarily consists of ROS publisher\/subscriber setups.<\/p>\n\n\n\n<p>Updated ROS Node map after consultation from senior students about implementing ROS into CoBorg.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Fall 2020<\/h2>\n\n\n\n<p>Ubuntu 18.04 and ROS Melodic installed on portable workstation. <\/p>\n\n\n\n<p>Schedule and technical roadmap draft built for subsystem. These include functional and cyberphysical architectures.<\/p>\n\n\n\n<p>As-Is CoBorg was examined. MATLAB framework was built into As-Is system in order to connect wireless controller inputs to HEBI motor outputs. <\/p>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td><a href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamc\/system-implementation\/hardware-framework\/\" data-type=\"URL\" data-id=\"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamc\/system-implementation\/hardware-framework\/\">&lt; Hardware Framework<\/a><\/td><td class=\"has-text-align-right\" data-align=\"right\"><\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>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<br \/><a class=\"moretag\" href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamc\/system-implementation\/software-framework\/\">+ Read More<\/a><\/p>\n","protected":false},"author":241,"featured_media":0,"parent":22,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-371","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamc\/wp-json\/wp\/v2\/pages\/371","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamc\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamc\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamc\/wp-json\/wp\/v2\/users\/241"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamc\/wp-json\/wp\/v2\/comments?post=371"}],"version-history":[{"count":8,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamc\/wp-json\/wp\/v2\/pages\/371\/revisions"}],"predecessor-version":[{"id":905,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamc\/wp-json\/wp\/v2\/pages\/371\/revisions\/905"}],"up":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamc\/wp-json\/wp\/v2\/pages\/22"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamc\/wp-json\/wp\/v2\/media?parent=371"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}