igvc-software
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RoboJackets
The code base for the RoboNav team's IGVC robot.
# Description Fixes ghost obstacles in traversability layer by applying morphological transforms. This PR does the following: - Fixes ghost obstacles in traversability layer Fixes #836 # Testing steps (If...
As detailed in #886 the traversability layer has an issue when going down inclines. When the robot is at a certain elevation it does not understand why going off a...
# Description Uses the GTSAM library to implement 3D localization using a factor graph. GPS coordinates, IMU measurements, magnetometer measurements, and wheel odometry measurements are continually integrated into the factor...
Currently we have a very [simple PID controller](https://github.com/RoboJackets/igvc-software/blob/ee75d6a0cb1e3ac10f7da5dcea87ff0b9cfdf2ff/igvc_gazebo/nodes/swerve_control/swerve_control.cpp#L105-L112) in the gazebo swerve control node. It would be nice to improve this controller to include features such as a [low pass...
AC: The `igvc_utils/speed_compare` node should be split into a header and cpp file, with the cpp file containing member function implementations as well as the main function, and retain functionality...
For Jessiii we had to remove a points from the pointcloud because they were reflections from the robot itself. Now we need to reconfigure it for Swervi.
With the `traversability_layer` costmap plugin implemented in #672, we can traverse uneven terrain by creating a costmap based on the slope of the surrounding area. However, after implementing 3D localization,...
AC: Create a new node similar to the `igvc_utils/speed_compare` node that works with Swervi's actuators.
AC: The `igvc_utils/quaternion_to_rpy` node should be split into a header and cpp file, with the cpp file containing member function implementations as well as the main function, and retain functionality...
AC: The igvc_gazebo/ground_truth node should be split into a header and cpp file, with the cpp file containing member function implementations as well as the main function, and retain functionality...
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The code base for the RoboNav team's IGVC robot.