RoboBuggy

ToDo Items

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msebek

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Sim

 - Refactor into more AbstractClass/Class

 - Check heading/message output

 - Add maps/courses/walls

 - Give the buggy mass

 - Make sure services are relevant

Nav

 - Print out Steering Angle

 - Service to load with waypoints. 

 - Tight loop to determine the closest waypoint. navigate to it?

 - PID control of some sort. 

Planner

 - Given map, allow planning. 

 - Allow feedback

 - Optimizer (consider simulation feedback)

- Start figuring out nav/AI

- Lane Lines?

- Move Maps to a common folder

Goals

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Week 2 (due 12/27)

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[x] I can manually control a buggy, rolling down a hill in simulation.

[x] I can have a buggy follow waypoints in order to navigate the course, in simulation.

Week 3 (due 1/3)

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[o] I can generate an optimized set of waypoints for a given map. 

    - This is being pushed to pathplanning.

[ ] I can plot a buggy in real-life onto the visualizer

Design Work:

1. rename buggymsgs into buggycommon

2. add buggymaps package

3. Use parameter server to load maps

   - mapname/map?

   - offset

4. rearchitect simulator into "sim" and "visualizer"

5. Document each package, fill out package.xml and cmakelist

6. be able to save run data into a new map.

7. design map-merge facilities

Week 4 (due 1/11)

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[ ] I can control the buggy's servo, and it can mirror what happens in simulation.

[ ] I can use GPS as input to the buggynav.

Later

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I can manually drive the course.

I can use a run of the buggy to gather course information.

I can update the course map with information gathered from a run of the buggy.