Issue number | Date found | Date fixed | Owner | Subsystem | Origin | Description | Resolution | Artifact changed |
1 | 1/1 | 2/10 | Pallavi | Perception | Flower Detection | Sparse Datasets | 1. Found dataset 2. Collecting own dataset | Timeline |
2 | 1/5 | 1/20 | Pallavi, Aditya | Perception | Camera | The camera on the bot will not satisfactorily detect points of interaction | Additional camera | 1. Integration 2. POI detection |
3 | 1/5 | 1/15 | Vaidehi, Steven | Customized tool | Harvester tool | Cutter and gripper axes were opposite each other limiting the effective tool area | Change design | Design |
4 | 2/7 | Steven | Navigation | Incorrect Localization | The robot is unable to localize and reach goal point using default factory packages. | Trial using third party packages/self developed software | Navigation Software | |
5 | 2/9 | 2/24 | Pallavi, Steven | Customized tool | Cutting tool | Does not perform uniformly | Replace motor with Dynamixel motor | Motor |
6 | 2/10 | 2/15 | Aditya | Perception | Dataset | Wrong labels in flower dataset | Removed those images from the dataset | Dataset |
7 | 2/15 | Bruce, Vaidehi | Manipulation | FUNMAP | FUNMAP publishing coordinates too slow | |||
8 | 2/15 | Bruce | Manipulation | FUNMAP | Unable to locate 3D coordinates | |||
9 | 2/15 | Vaidehi | Manipulation | MoveIt | MoveIt not storing goal poses | |||
10 | 2/15 | 2/20 | Pallavi | Perception | Jetson | Jetson crashed | Updated packages and reinstalled | Jetson |
11 | 2/12 | 2/13 | Pallavi | Integration | Aruco markers, camera | Aruco markers not detected | Original aruco markers to be used | Aruco marker |
12 | 2/13 | 2/28 | Pallavi | Integration | Aruco markers, camera | Pose estimation is off | Calibrate the cameras | Camera calibration |
13 | 2/15 | 3/1 | Pallavi, Vaidehi | Customized tool | Gripper | Motor goes into overload shutdown | PWM enabled based on force feedback | Tool |
14 | 2/15 | 2/20 | Vaidehi | Customized tool | Tool | Robot end effector does not reach the height of plant | Change design by adding L structure | Tool operation |
15 | 2/20 | 3/12 | Vaidehi | Customized tool | Gripper integration | Gripper motor not homing when integrated with Hello robot | Check homing script and try alternative calibration approaches | Tool |
16 | 2/25 | 3/25 | Pallavi, Aditya | Perception | Jetson | Jetson not connecting to wifi | Buy new wifi dongle | Jetson |
17 | 3/5 | 3/26 | Pallavi, Vaidehi | Customized tool | Tool | Wacc board (and as a result, wrist) is not working | Get replacement, use the substitute bot for trials on wacc board as it is sensitive | Robot |
18 | 3/23 | 3/24 | Pallavi, Steven | Perception | Wrist camera | Disconnected TF tree for wrist camera | Add urdf of the camera to the bot’s wrist | Robot |
19 | 3/20 | 4/1 | Pallavi, Aditya | Perception | Bounding box | Coordinates of the box(x and y) are not accurate | 1. Navigation 2. Manipulation | |
20 | 2/28 | 3/28 | Steven | Navigation | LiDAR Pot Detection | Sparse point cloud due to reflectivity of black plant pots | Spray painted the pots to a much more reflective color | Environment |
21 | 3/8 | 9/7 | Steven | Navigation | Poor Go-toGoal Performance | Controller requires loose thresholds to perform | Change to ROS built in navigation local planner | Navigation Software |
22 | 3/27 | 9/7 | Steven | Navigation | Exisiting MoveBase from Hello-Robot not Configured for Stretch RE1 | Planner robot system parameters do not reflect actual performance | Manually update parameters after in-lab performance testing of robot | Navigation Software |
23 | 3/30 | 10/7 | Aditya | Perception | Python version incompatibility | Can’t run python3 script with ROS Melodic | Install core ros packages for python3 and build opencv_bridge from source | Jetson software |
24 | 4/20 | 11/7 | Vaidehi, Pallavi | Manipulation and Customized tool | Motor commands dropping | Frequency difference between stretch driver and pimu | Sleep commands, search for more solutions | Stretch driver |
25 | 4/20 | 11/7 | Vaidehi | Customized tool | Harvester does not cut | Enough motor torque is not provided | Problem started arising after integration, find root cause of problem | Stretch driver |
26 | 4/20 | Vaidehi, Pallavi | Manipulation, Customized tool | Synchronous movements of robot | The robot lift, wrist extension and tool work together | Sleep commands, search for more solutions | Stretch driver | |
27 | 11/7 | Pallavi | Manipulation | Lift, base and arm error | Slight errors in lift, base and arm. | Position servoing | Stretch driver | |
28 | 10/20 | Steven | Navigation | Odometry is drifting | This affects all subsystems | Odometry correction | Navigation | |
29 | 11/5 | Vaidehi | Tool | Tool detected as cluster | Tool 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 painted | Tool | |
30 | 10/9 | 11/1 | Vaidehi, Pallavi | Tool | Ping is failing | Stretch driver has access to the tool, so while tool script is running with stretch driver there are access issues | Tool integrated as part of stretch driver | Tool as a part of stretch driver |
31 | 11/2 | 11/5 | Vaidehi, Pallavi | Tool | Maintaining torque | The tool sometimes does not maintain its torque | PWM mode switching to position mode | Tool as a part of the stretch driver |
32 | 11/2 | 11/7 | Aditya | Perception | Cluster location | Cluster location is not accurate/outdated | Camera head turns to get more accurate reading | Stem localization |
33 | 11/7 | Aditya | Perception | Stem localization | It is not accurate | Need to debug | Stem localization | |