{"id":195,"date":"2022-02-20T17:53:46","date_gmt":"2022-02-20T17:53:46","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamg\/?page_id=195"},"modified":"2022-11-07T22:48:54","modified_gmt":"2022-11-07T22:48:54","slug":"issues-log","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamg\/project-management\/issues-log\/","title":{"rendered":"Issues Log"},"content":{"rendered":"\n
Issue number<\/td>Date found<\/td>Date fixed<\/td>Owner<\/td>Subsystem<\/td>Origin<\/td>Description<\/td>Resolution<\/td>Artifact changed<\/td><\/tr>
1<\/td>1\/1<\/td>2\/10<\/td>Pallavi<\/td>Perception<\/td>Flower Detection<\/td>Sparse Datasets<\/td>1. Found dataset
2. Collecting own dataset<\/td>		Timeline<\/td><\/tr>
2<\/td>1\/5<\/td>1\/20<\/td>Pallavi, Aditya<\/td>Perception<\/td>Camera<\/td>The camera on the bot will not satisfactorily detect points of interaction<\/td>Additional camera<\/td>1. Integration
2. POI detection<\/td><\/tr>
3<\/td>1\/5<\/td>1\/15<\/td>Vaidehi,
Steven<\/td>		Customized tool <\/td>Harvester tool<\/td>Cutter and gripper axes were opposite each other limiting the effective tool area<\/td>Change design<\/td>Design<\/td><\/tr>
4<\/td>2\/7<\/td><\/td>Steven<\/td>Navigation <\/td>Incorrect Localization<\/td>The robot is unable to localize and reach goal point using default factory packages.<\/td>Trial using third party packages\/self developed software<\/td>Navigation Software<\/td><\/tr>
5<\/td>2\/9<\/td>2\/24<\/td>Pallavi, Steven<\/td>Customized tool<\/td>Cutting tool<\/td>Does not perform uniformly<\/td>Replace motor with Dynamixel motor<\/td>Motor<\/td><\/tr>
6<\/td>2\/10<\/td>2\/15<\/td>Aditya<\/td>Perception<\/td>Dataset<\/td>Wrong labels in flower dataset <\/td>Removed those images from the dataset<\/td>Dataset<\/td><\/tr>
7<\/td>2\/15<\/td><\/td>Bruce,
Vaidehi<\/td>		Manipulation<\/td>FUNMAP<\/td>FUNMAP publishing coordinates too slow<\/td><\/td><\/td><\/tr>
8<\/td>2\/15<\/td><\/td>Bruce<\/td>Manipulation<\/td>FUNMAP<\/td>Unable to locate 3D coordinates<\/td><\/td><\/td><\/tr>
9<\/td>2\/15<\/td><\/td>Vaidehi<\/td> Manipulation <\/td>MoveIt<\/td>MoveIt not storing goal poses<\/td><\/td><\/td><\/tr>
10<\/td>2\/15<\/td>2\/20<\/td>Pallavi<\/td>Perception<\/td>Jetson<\/td>Jetson crashed<\/td>Updated packages and reinstalled<\/td>Jetson<\/td><\/tr>
11<\/td>2\/12<\/td>2\/13<\/td>Pallavi<\/td>Integration<\/td>Aruco markers, camera<\/td>Aruco markers not detected<\/td>Original aruco markers to be used<\/td>Aruco marker<\/td><\/tr>
12<\/td>2\/13<\/td>2\/28<\/td>Pallavi<\/td>Integration<\/td>Aruco markers, camera<\/td>Pose estimation is off<\/td>Calibrate the cameras<\/td>Camera calibration<\/td><\/tr>
13<\/td>2\/15<\/td>3\/1<\/td>Pallavi, Vaidehi<\/td>Customized tool<\/td>Gripper<\/td>Motor goes into overload shutdown<\/td>PWM enabled based on force feedback<\/td>Tool<\/td><\/tr>
14<\/td>2\/15<\/td>2\/20<\/td>Vaidehi<\/td>Customized tool <\/td>Tool<\/td>Robot end effector does not reach the height of plant<\/td>Change design by adding L structure<\/td>Tool operation<\/td><\/tr>
15<\/td>2\/20<\/td>3\/12<\/td>Vaidehi<\/td>Customized tool <\/td>Gripper integration<\/td>Gripper motor not homing when integrated with Hello robot<\/td>Check homing script and try alternative calibration approaches<\/td>Tool<\/td><\/tr>
16<\/td>2\/25<\/td>3\/25<\/td>Pallavi, Aditya<\/td>Perception<\/td>Jetson<\/td>Jetson not connecting to wifi<\/td>Buy new wifi dongle<\/td>Jetson<\/td><\/tr>
17<\/td>3\/5<\/td>3\/26<\/td>Pallavi, Vaidehi<\/td>Customized tool<\/td>Tool<\/td>Wacc board (and as a result, wrist) is not working<\/td>Get replacement, use the substitute bot for trials on wacc board as it is sensitive<\/td>Robot<\/td><\/tr>
18<\/td>3\/23<\/td>3\/24<\/td>Pallavi, Steven<\/td>Perception<\/td>Wrist camera<\/td>Disconnected TF tree for wrist camera<\/td>Add urdf of the camera to the bot’s wrist<\/td>Robot<\/td><\/tr>
19<\/td>3\/20<\/td>4\/1<\/td>Pallavi, Aditya<\/td>Perception<\/td>Bounding box<\/td>Coordinates of the box(x and y) are not accurate<\/td><\/td>1. Navigation
2. Manipulation<\/td><\/tr>
20<\/td>2\/28<\/td>3\/28<\/td>Steven<\/td>Navigation<\/td>LiDAR Pot Detection<\/td>Sparse point cloud due to reflectivity of black plant pots<\/td>Spray painted the pots to a much more reflective color<\/td>Environment<\/td><\/tr>
21<\/td>3\/8<\/td>9\/7<\/td>Steven<\/td>Navigation<\/td>Poor Go-toGoal Performance<\/td>Controller requires loose thresholds to perform<\/td>Change to ROS built in navigation local planner<\/td>Navigation Software<\/td><\/tr>
22<\/td>3\/27<\/td>9\/7<\/td>Steven<\/td>Navigation<\/td>Exisiting MoveBase from Hello-Robot not Configured for Stretch RE1<\/td>Planner robot system parameters do not reflect actual performance<\/td>Manually update parameters after in-lab performance testing of robot<\/td>Navigation Software<\/td><\/tr>
23<\/td>3\/30<\/td>10\/7<\/td>Aditya<\/td>Perception<\/td>Python version incompatibility
<\/td>		Can’t run python3 script with ROS Melodic<\/td>Install core ros packages for python3 and build opencv_bridge from source<\/td>Jetson software<\/td><\/tr>
24<\/td>4\/20<\/td>11\/7<\/td>Vaidehi, Pallavi<\/td>Manipulation and Customized tool<\/td>Motor commands dropping<\/td>Frequency difference between stretch driver and pimu<\/td>Sleep commands, search for more solutions<\/td>Stretch driver<\/td><\/tr>
25<\/td>4\/20<\/td>11\/7<\/td>Vaidehi<\/td>Customized tool<\/td>Harvester does not cut<\/td>Enough motor torque is not provided<\/td>Problem started arising after integration, find root cause of problem<\/td>Stretch driver <\/td><\/tr>
26<\/td>4\/20<\/td><\/td>Vaidehi, Pallavi<\/td>Manipulation, Customized tool <\/td>Synchronous movements of robot<\/td>The robot lift, wrist extension and tool work together<\/td>Sleep commands, search for more solutions<\/td>Stretch driver<\/td><\/tr>
27<\/td>11\/7<\/td><\/td>Pallavi<\/td>Manipulation<\/td>Lift, base and arm error<\/td>Slight errors in lift, base and arm. <\/td>Position servoing<\/td>Stretch driver<\/td><\/tr>
28<\/td>10\/20<\/td><\/td>Steven<\/td>Navigation<\/td>Odometry is drifting<\/td>This affects all subsystems<\/td>Odometry correction<\/td>Navigation<\/td><\/tr>
29<\/td>11\/5<\/td><\/td>Vaidehi<\/td>Tool<\/td>Tool detected as cluster<\/td>Tool is red in some areas, and results in being detected as a cluster (rejected later but this must be eliminated entirely)<\/td>It has to be spray painted<\/td>Tool<\/td><\/tr>
30<\/td>10\/9<\/td>11\/1<\/td>Vaidehi, Pallavi<\/td>Tool<\/td>Ping is failing<\/td>Stretch driver has access to the tool, so while tool script is running with stretch driver there are access issues<\/td>Tool integrated as part of stretch driver<\/td>Tool as a part of stretch driver<\/td><\/tr>
31<\/td>11\/2<\/td>11\/5<\/td>Vaidehi, Pallavi<\/td>Tool<\/td>Maintaining torque<\/td>The tool sometimes does not maintain its torque<\/td>PWM mode switching to position mode<\/td>Tool as a part of the stretch driver<\/td><\/tr>
32<\/td>11\/2<\/td>11\/7<\/td>Aditya<\/td>Perception<\/td>Cluster location<\/td>Cluster location is not accurate\/outdated<\/td>Camera head turns to get more accurate reading<\/td>Stem localization<\/td><\/tr>
33<\/td>11\/7<\/td><\/td>Aditya<\/td>Perception<\/td>Stem localization<\/td>It is not accurate<\/td>Need to debug<\/td>Stem localization<\/td><\/tr>
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Issue number Date found Date fixed Owner Subsystem Origin Description Resolution Artifact changed 1 1\/1 2\/10 Pallavi Perception Flower Detection Sparse Datasets […]<\/p>\n","protected":false},"author":281,"featured_media":0,"parent":185,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-195","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamg\/wp-json\/wp\/v2\/pages\/195","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamg\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamg\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamg\/wp-json\/wp\/v2\/users\/281"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamg\/wp-json\/wp\/v2\/comments?post=195"}],"version-history":[{"count":17,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamg\/wp-json\/wp\/v2\/pages\/195\/revisions"}],"predecessor-version":[{"id":685,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamg\/wp-json\/wp\/v2\/pages\/195\/revisions\/685"}],"up":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamg\/wp-json\/wp\/v2\/pages\/185"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamg\/wp-json\/wp\/v2\/media?parent=195"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}