igvc-software
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RoboJackets
The code base for the RoboNav team's IGVC robot.
This is what the multiclass segmentation output currently looks like: - [https://www.dropbox.com/s/yuv4jou4ch4uqla/multiclassSegmentation.webm?dl=0](https://www.dropbox.com/s/yuv4jou4ch4uqla/multiclassSegmentation.webm?dl=0) The output looks a bit choppy and I'm not sure if this is due to the GPU the...
For some reason, the magnetometer is not integrated in our localization node, the [`ekf_localization_node`](https://github.com/RoboJackets/igvc-software/blob/54204bcedf5c579ace3335cc90eb885ead900ac1/igvc_navigation/config/ekf_localization_node_params.yaml). It is important to integrate the magnetometer measurements in order to ensure more accurate state estimation....
Currently, we use the `robot_localization` package for state estimation. We use the ekf_localization_node and [launch](https://github.com/RoboJackets/igvc-software/blob/54204bcedf5c579ace3335cc90eb885ead900ac1/igvc_navigation/launch/localization.launch#L47-L49) it with specific configuration settings. However, the current settings are configured to work with Jessi,...
Right now, creating waypoints consists of copy pasting from fix, and manually formatting it in to the csv, which is really annoying. Ideally, we should have some sort of tool...
One of our TODOs in `line_layer`: https://github.com/RoboJackets/igvc-software/blob/fbdda166b5672364f9161ee61b46e74a81d24af6/igvc_navigation/src/mapper/line_layer.cpp#L202-L232 While we will have a neural network that can detect barrels as well, as backup + baseline let's get a node that does...
AC: The igvc_gazebo/control 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: Line detection implemented with OpenCV
Right now our simulation is very "qualitative". It would be nice to have some sort of more quantitative / objective metrics of success. One thing we could do is to...
# Description Due to changes in the IGVC codebase, the opencv line detection design document needed updates as to what packages were being affected and implementation process. This PR does...
Currently, the only way to "integration test" the CNN is by testing on Jessii. However, it would be nice to get a sanity check by having a "integration test" environment...
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The code base for the RoboNav team's IGVC robot.