spacejockey / mrsd-team-b

The best team is sometimes the B team...

MRSD-Team-B

The best team is sometimes the B team...

mrsd-team-b's Issues

Rename serial_link ROS topic to something more reasonable

Maybe joint_targets, or ctl_thetas. I'd like to add more support for closing the loop in future (time delayed status updates, or detachment confirmation). Needs to be changed in both ROS code and Arduino Code

Split planner GUI and MajorPlanner server into separate nodes

Serverize planner pipeline

To simplify lock-step add
<- ID completed
-> Next move
at each planner step.

Also, Serverize robot state? Waypoints?

Arduino motor brownouts

Should start on that after testing of refactored Arduino codebase on 2/24

implement viewing angles in IK

waypoint_planner.py is not an ambiturner

Add inspection region support to Planner GUI

Add battery status message to Planner GUI window

Integrate IMU and add Arduino Publisher

Should probably try and wire up to a separate i2c bus than the servo control board, for nice hardware and software issue isolation

Update Arduino Firmware and recalibrate battery values

I noticed at the SVE that our battery status indicator never dropped, even though the battery voltage was dangerously low after the demo. We need to re-calibrate it. For simplicity, I moved the battery calibrations into spacejockey/config/arduino.yaml under ROS, but those values need to be updated

To update them, load the newest Arduino firmware onto the robot, hook it into the benchtop power supply (via the Power board), run spacejockey.launch, and then rostopic echo 'battery_raw' (with the robot connected). Adjusting the supply voltage to 6.8V (min) and then 8.5V (max) should give us the correct calibration values.

Also, you may want to electrical tape (or heat shrink) the battery monitor wire (white pin) firmly on the PDB, I noticed it was coming loose before.

Fix Tail Drag and Infinite Drift

Nate/Brian both assigned.

Update Arduino IMU code to publish sensor_msgs/Imu type

http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html

Add visualization messages for waypoints

Should add publisher to major_planner node

Also add Viz_msg rendering to new OpenCV GUI

Will make waypoints show up both in rViz and our GUI...

Solve shadow problem

Try HSV, Vignetting, and LED Headlights/nightvision.

Fix image warp alignment

Combined warped images should give a nice map when working properly.

Fix servo mount screw sizes

6-32 servo mount screws are stripping out on the linear actuator and rotary servo mounts, need to print a test piece with different hole sizes and 3 shells, and find the tightest hole that the screws will self-tap into.

Horizontal servo installation clearance issue on Center Joint A

Servo installation impossible, need to re-size vertical bearing supports

rqt_sj segfaults

Finally got a backtrace for this issue:

*** glibc detected *** /usr/bin/python: double free or corruption (fasttop): 0x00007f8bbc002440 ***
======= Backtrace: =========
/lib/x86_64-linux-gnu/libc.so.6(+0x7eb96)[0x7f8c1a233b96]
/usr/lib/x86_64-linux-gnu/libQtGui.so.4(+0x3e8848)[0x7f8c148a3848]
/usr/lib/x86_64-linux-gnu/libQtGui.so.4(_ZN14QWidgetPrivate16syncBackingStoreEv+0x80)[0x7f8c146c9ac0]
/usr/lib/x86_64-linux-gnu/libQtGui.so.4(_ZN7QWidget5eventEP6QEvent+0xb4c)[0x7f8c146d760c]
/usr/lib/x86_64-linux-gnu/libQtGui.so.4(_ZN11QMainWindow5eventEP6QEvent+0x6b)[0x7f8c14ab0c8b]
/usr/lib/python2.7/dist-packages/PyQt4/QtGui.so(+0x366a19)[0x7f8c154efa19]
/usr/lib/x86_64-linux-gnu/libQtGui.so.4(_ZN19QApplicationPrivate13notify_helperEP7QObjectP6QEvent+0xb4)[0x7f8c14686894]
/usr/lib/x86_64-linux-gnu/libQtGui.so.4(_ZN12QApplication6notifyEP7QObjectP6QEvent+0x113)[0x7f8c1468b713]
/usr/lib/python2.7/dist-packages/PyQt4/QtGui.so(+0x4b3a99)[0x7f8c1563ca99]
/usr/lib/x86_64-linux-gnu/libQtCore.so.4(_ZN16QCoreApplication14notifyInternalEP7QObjectP6QEvent+0x8c)[0x7f8c15eeee9c]
/usr/lib/x86_64-linux-gnu/libQtCore.so.4(_ZN23QCoreApplicationPrivate16sendPostedEventsEP7QObjectiP11QThreadData+0x46a)[0x7f8c15ef2c6a]
/usr/lib/x86_64-linux-gnu/libQtCore.so.4(+0x1a9f93)[0x7f8c15f1df93]
/lib/x86_64-linux-gnu/libglib-2.0.so.0(g_main_context_dispatch+0x133)[0x7f8c17911d13]
/lib/x86_64-linux-gnu/libglib-2.0.so.0(+0x48060)[0x7f8c17912060]
/lib/x86_64-linux-gnu/libglib-2.0.so.0(g_main_context_iteration+0x34)[0x7f8c17912124]
/usr/lib/x86_64-linux-gnu/libQtCore.so.4(_ZN20QEventDispatcherGlib13processEventsE6QFlagsIN10QEventLoop17ProcessEventsFlagEE+0x6f)[0x7f8c15f1e3bf]
/usr/lib/x86_64-linux-gnu/libQtGui.so.4(+0x273d9e)[0x7f8c1472ed9e]
/usr/lib/x86_64-linux-gnu/libQtCore.so.4(_ZN10QEventLoop13processEventsE6QFlagsINS_17ProcessEventsFlagEE+0x32)[0x7f8c15eedc82]
/usr/lib/x86_64-linux-gnu/libQtCore.so.4(_ZN10QEventLoop4execE6QFlagsINS_17ProcessEventsFlagEE+0xf7)[0x7f8c15eeded7]
/usr/lib/x86_64-linux-gnu/libQtCore.so.4(_ZN16QCoreApplication4execEv+0x87)[0x7f8c15ef2f67]
/usr/lib/python2.7/dist-packages/PyQt4/QtGui.so(+0x47fc5e)[0x7f8c15608c5e]
/usr/bin/python(PyEval_EvalFrameEx+0x2a4)[0x486614]
/usr/bin/python(PyEval_EvalCodeEx+0x1a0)[0x48d930]
/usr/bin/python(PyEval_EvalFrameEx+0x848)[0x486bb8]
/usr/bin/python(PyEval_EvalCodeEx+0x1a0)[0x48d930]
/usr/bin/python(PyEval_EvalFrameEx+0x848)[0x486bb8]
/usr/bin/python(PyEval_EvalCodeEx+0x1a0)[0x48d930]
/usr/bin/python(PyRun_FileExFlags+0xe1)[0x4246a1]
/usr/bin/python(PyRun_SimpleFileExFlags+0x1ce)[0x42492e]
/usr/bin/python(Py_Main+0x536)[0x425cb6]
/lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xed)[0x7f8c1a1d676d]
/usr/bin/python[0x41bb31]
======= Memory map: ========
00400000-00670000 r-xp 00000000 08:03 395128                             /usr/bin/python2.7
00870000-00871000 r--p 00270000 08:03 395128                             /usr/bin/python2.7
00871000-008da000 rw-p 00271000 08:03 395128                             /usr/bin/python2.7
008da000-008ec000 rw-p 00000000 00:00 0 
018d5000-04913000 rw-p 00000000 00:00 0                                  [heap]
7f8bbc000000-7f8bbc021000 rw-p 00000000 00:00 0 
7f8bbc021000-7f8bc0000000 ---p 00000000 00:00 0 
7f8bc4000000-7f8bc4021000 rw-p 00000000 00:00 0 
7f8bc4021000-7f8bc8000000 ---p 00000000 00:00 0 
7f8bc8000000-7f8bc8021000 rw-p 00000000 00:00 0 
7f8bc8021000-7f8bcc000000 ---p 00000000 00:00 0 
7f8bcc000000-7f8bcc021000 rw-p 00000000 00:00 0 
7f8bcc021000-7f8bd0000000 ---p 00000000 00:00 0 
7f8bd1845000-7f8bd1bfb000 rw-s 00000000 00:04 17760265                   /SYSV00000000 (deleted)
7f8bd1bfb000-7f8bd1bfc000 ---p 00000000 00:00 0 
7f8bd1bfc000-7f8bd23fc000 rw-p 00000000 00:00 0                          [stack:11046]
7f8bd23fc000-7f8bd23fd000 ---p 00000000 00:00 0 
7f8bd23fd000-7f8bd2bfd000 rw-p 00000000 00:00 0                          [stack:11045]
7f8bd2bfd000-7f8bd2bfe000 ---p 00000000 00:00 0 
7f8bd2bfe000-7f8bd33fe000 rw-p 00000000 00:00 0 
7f8bd33fe000-7f8bd33ff000 ---p 00000000 00:00 0 
7f8bd33ff000-7f8bd4000000 rw-p 00000000 00:00 0 
7f8bd4000000-7f8bd4021000 rw-p 00000000 00:00 0 
7f8bd4021000-7f8bd8000000 ---p 00000000 00:00 0 
7f8bd8000000-7f8bd8021000 rw-p 00000000 00:00 0 
7f8bd8021000-7f8bdc000000 ---p 00000000 00:00 0 
7f8bdc000000-7f8bdc021000 rw-p 00000000 00:00 0 
7f8bdc021000-7f8be0000000 ---p 00000000 00:00 0 
7f8be0000000-7f8be0021000 rw-p 00000000 00:00 0 
7f8be0021000-7f8be4000000 ---p 00000000 00:00 0 
7f8be4000000-7f8be4048000 rw-p 00000000 00:00 0 
7f8be4048000-7f8be8000000 ---p 00000000 00:00 0 
7f8be8319000-7f8be8322000 r-xp 00000000 08:03 655681                     /usr/lib/x86_64-linux-gnu/qt4/plugins/iconengines/libqsvgicon.so
7f8be8322000-7f8be8521000 ---p 00009000 08:03 655681                     /usr/lib/x86_64-linux-gnu/qt4/plugins/iconengines/libqsvgicon.so
7f8be8521000-7f8be8522000 r--p 00008000 08:03 655681                     /usr/lib/x86_64-linux-gnu/qt4/plugins/iconengines/libqsvgicon.so
7f8be8522000-7f8be8523000 rw-p 00009000 08:03 655681                     /usr/lib/x86_64-linux-gnu/qt4/plugins/iconengines/libqsvgicon.so
7f8be8523000-7f8be8584000 r-xp 00000000 08:03 401658                     /usr/lib/x86_64-linux-gnu/libtiff.so.4.3.4
7f8be8584000-7f8be8784000 ---p 00061000 08:03 401658                     /usr/lib/x86_64-linux-gnu/libtiff.so.4.3.4
7f8be8784000-7f8be8786000 r--p 00061000 08:03 401658                     /usr/lib/x86_64-linux-gnu/libtiff.so.4.3.4
7f8be8786000-7f8be8787000 rw-p 00063000 08:03 401658                     /usr/lib/x86_64-linux-gnu/libtiff.so.4.3.4
7f8be8787000-7f8be878e000 r-xp 00000000 08:03 657152                     /usr/lib/x86_64-linux-gnu/qt4/plugins/imageformats/libqtiff.so
7f8be878e000-7f8be898d000 ---p 00007000 08:03 657152                     /usr/lib/x86_64-linux-gnu/qt4/plugins/imageformats/libqtiff.so
7f8be898d000-7f8be898e000 r--p 00006000 08:03 657152                     /usr/lib/x86_64-linux-gnu/qt4/plugins/imageformats/libqtiff.so
7f8be898e000-7f8be898f000 rw-p 00007000 08:03 657152                     /usr/lib/x86_64-linux-gnu/qt4/plugins/imageformats/libqtiff.so
7f8be898f000-7f8be8994000 r-xp 00000000 08:03 657150                     /usr/lib/x86_64-linux-gnu/qt4/plugins/imageformats/libqtga.so
7f8be8994000-7f8be8b93000 ---p 00005000 08:03 657150                     /usr/lib/x86_64-linux-gnu/qt4/plugins/imageformats/libqtga.so
7f8be8b93000-7f8be8b94000 r--p 00004000 08:03 657150                     /usr/lib/x86_64-linux-gnu/qt4/plugins/imageformats/libqtga.so
7f8be8b94000-7f8be8b95000 rw-p 00005000 08:03 657150                     /usr/lib/x86_64-linux-gnu/qt4/plugins/imageformats/libqtga.soAborted (core dumped)

Add URDF parsing to kinematics and Control Bridge nodes

Test and merge feature-arduino-refactor branch

Scheduler node does not respond to SIGTERM

scheduler.py will not stop when given either Ctrl+C or a stop command using roslaunch

spin-off spacecam library

please commen here when new general git repo created, and I will clone it...

Add world warped image into background of planner GUI

Songjie, After you get the world-warped image output to a ROS topic, it'd be nice to display this image in the background of the waypoint_planner GUI, so we can display everything relevant to the robot state in one place. Your CV_dev branch is a good place to test this out nondestructively

Add PCB retention clips to camera mount

add sub-namespaces to ROS launch file

Smooth walking trajectory path

To prevent wall popping...

implement weighted transform server

Calibrate rotary joints

If we increase the deadband size (in the Hightech calibration tool) on the rotary joints on the robot, we can decrease the 'singing' effect of the servos, and prevent accidental detachment. I recommend increasing the two center pitch servos to .5 degrees or so, and the end segment pitches, to 1 degree or so, this will make those segments more tolerant of small miscalibrations and prevent detachment of the magnets.

Speed up K-Means filtering

Also Brian, Nate

Add PWM calibration code to Arduino Robot.h