RTAB-MAP functioning on ROS on Jetson

Update to include interface declarations, interface table, and new devices.

Triangulate points to mesh for final capture.

Capture point clouds based on input from keyboard, sensor, SLAM, etc.

Write test procedure for PSU PCB, include:

• Copper test
• Temperature test
• Minimum current performance

Filter point cloud extraneous points.

Populate power supply PCB for testing.

Third page is first, need to reorder pages

Robot Operating System on Jetson TX1

Color point cloud with Realsense SDK

• Wider return to ground from max current
• Remove via from router 12v, and tap the source
• Remove thermal connection from polygon and vias from polygons

Test PCL registration using iterative closest point (icp).

Testing with Google Cartographer and Hector SLAM for ease of use and overall best functionality.

Stitch multiple captures into one entity after filtering (before or after triangulation TBD)

Match Ref Des of CircuitMaker to OrCAD for post board fab.

Design production assembly, start of design shall be this Saturday.
Req:

• 2D mechanical dimensions in PDF
• 3D mechanical visual

Bluetooth control code needed in software.

LIDAR SLAM with Google Cartographer ROS or Hector SLAM ROS.

Add new items, and document item specs in CDR Google Doc.

Need color capture with PCL integration, save to PCD or PLY

RTAB-MAP RGB-D SLAM functioning on Ubuntu 16.04 LTS, per Jetson OS requirement.

Compress PCL and use voxels to reduce point count.

Final battery choice and datasheets need to be declared.

Need STEP file uploaded to Mechanical directory

Excel based documentation, located in Systems folder.
All Power interfaces shall be labeled X#, and all communication interfaces shall be labeled IF#, followed by any sub interfaces.

• ex. IF1 - LIDAR Communication:
  IF1.1 - LIDAR Power
  IF1.2 - LIDAR RX
  etc...

Power Supply needs associated Gerber file for layout.

Need parts and part numbers linked in BOM, place into electrical directory

Assemble chassis, and integrate power supply.

PCB drawing needs uploading to Power Supply directory

Add specs and testing in CSV, and update block diagrams.