Issues Log

Issue numberDate foundDate fixedOwnerSubsystemOriginDescriptionResolutionArtifact changed
11/12/10PallaviPerceptionFlower DetectionSparse Datasets1. Found dataset
2. Collecting own dataset
Timeline
21/51/20Pallavi, AdityaPerceptionCameraThe camera on the bot will not satisfactorily detect points of interactionAdditional camera1. Integration
2. POI detection
31/51/15Vaidehi,
Steven
Customized tool Harvester toolCutter and gripper axes were opposite each other limiting the effective tool areaChange designDesign
42/7StevenNavigation Incorrect LocalizationThe robot is unable to localize and reach goal point using default factory packages.Trial using third party packages/self developed softwareNavigation Software
52/92/24Pallavi, StevenCustomized toolCutting toolDoes not perform uniformlyReplace motor with Dynamixel motorMotor
62/102/15AdityaPerceptionDatasetWrong labels in flower dataset Removed those images from the datasetDataset
72/15Bruce,
Vaidehi
ManipulationFUNMAPFUNMAP publishing coordinates too slow
82/15BruceManipulationFUNMAPUnable to locate 3D coordinates
92/15Vaidehi Manipulation MoveItMoveIt not storing goal poses
102/152/20PallaviPerceptionJetsonJetson crashedUpdated packages and reinstalledJetson
112/122/13PallaviIntegrationAruco markers, cameraAruco markers not detectedOriginal aruco markers to be usedAruco marker
122/132/28PallaviIntegrationAruco markers, cameraPose estimation is offCalibrate the camerasCamera calibration
132/153/1Pallavi, VaidehiCustomized toolGripperMotor goes into overload shutdownPWM enabled based on force feedbackTool
142/152/20VaidehiCustomized tool ToolRobot end effector does not reach the height of plantChange design by adding L structureTool operation
152/203/12VaidehiCustomized tool Gripper integrationGripper motor not homing when integrated with Hello robotCheck homing script and try alternative calibration approachesTool
162/253/25Pallavi, AdityaPerceptionJetsonJetson not connecting to wifiBuy new wifi dongleJetson
173/53/26Pallavi, VaidehiCustomized toolToolWacc board (and as a result, wrist) is not workingGet replacement, use the substitute bot for trials on wacc board as it is sensitiveRobot
183/233/24Pallavi, StevenPerceptionWrist cameraDisconnected TF tree for wrist cameraAdd urdf of the camera to the bot’s wristRobot
193/204/1Pallavi, AdityaPerceptionBounding boxCoordinates of the box(x and y) are not accurate1. Navigation
2. Manipulation
202/283/28StevenNavigationLiDAR Pot DetectionSparse point cloud due to reflectivity of black plant potsSpray painted the pots to a much more reflective colorEnvironment
213/89/7StevenNavigationPoor Go-toGoal PerformanceController requires loose thresholds to performChange to ROS built in navigation local plannerNavigation Software
223/279/7StevenNavigationExisiting MoveBase from Hello-Robot not Configured for Stretch RE1Planner robot system parameters do not reflect actual performanceManually update parameters after in-lab performance testing of robotNavigation Software
233/3010/7AdityaPerceptionPython version incompatibility
Can’t run python3 script with ROS MelodicInstall core ros packages for python3 and build opencv_bridge from sourceJetson software
244/2011/7Vaidehi, PallaviManipulation and Customized toolMotor commands droppingFrequency difference between stretch driver and pimuSleep commands, search for more solutionsStretch driver
254/2011/7VaidehiCustomized toolHarvester does not cutEnough motor torque is not providedProblem started arising after integration, find root cause of problemStretch driver
264/20Vaidehi, PallaviManipulation, Customized tool Synchronous movements of robotThe robot lift, wrist extension and tool work togetherSleep commands, search for more solutionsStretch driver
2711/7PallaviManipulationLift, base and arm errorSlight errors in lift, base and arm. Position servoingStretch driver
2810/20StevenNavigationOdometry is driftingThis affects all subsystemsOdometry correctionNavigation
2911/5VaidehiToolTool detected as clusterTool is red in some areas, and results in being detected as a cluster (rejected later but this must be eliminated entirely)It has to be spray paintedTool
3010/911/1Vaidehi, PallaviToolPing is failingStretch driver has access to the tool, so while tool script is running with stretch driver there are access issuesTool integrated as part of stretch driverTool as a part of stretch driver
3111/211/5Vaidehi, PallaviToolMaintaining torqueThe tool sometimes does not maintain its torquePWM mode switching to position modeTool as a part of the stretch driver
3211/211/7AdityaPerceptionCluster locationCluster location is not accurate/outdatedCamera head turns to get more accurate readingStem localization
3311/7AdityaPerceptionStem localizationIt is not accurateNeed to debugStem localization