Robocup is using the following python pretty script in their makefile (https://github.com/RoboJackets/robocup-software/blob/master/makefile) to enforce their formatting guidelines during build.

# automatically format code according to our style config defined in .clang-format
pretty:
    @stylize --diffbase=master --clang_style=file --yapf_style=file --exclude_dirs $(STYLE_EXCLUDE_DIRS)

This references the .clang-format style-configs here https://github.com/RoboJackets/style-configs/blob/master/.clang-format

We want to use this same format file, so we enforce the same styleguide when making that robocup does.

Since we use catkin_make, we need to figure out where to execute this script. Possible in CMakeLists.txt somewhere?

Please ask @justbuchanan for help as needed with the style script, and @barulicm for help with catkin_make!

Figure out why the GPS sometimes doesn't start up correctly.

Review all commits between June 6 - 9, 2014

The setup script did not edit the header files on @Dr-Neferious's computer.

Currently downloads 64-bit Qt
Should download appropriate version depending on the machine

Make all sensor datatypes inherit from SensorData and make sure timestamps are being filled correctly.

Without a license, this project isn't open source and no one can use the code.

Please use something like http://choosealicense.com/ to decide what license to use. I recommend MIT or GPL.

A novel effort by Add a License Please

Button 4 should increase the joystick's max speed
Button 2 should decrease the joystick's max speed

Make an rviz plugin to display the robot's current speed.

http://docs.ros.org/indigo/api/rviz_plugin_tutorials/html/panel_plugin_tutorial.html

line_detector has an improved version of most of its functionality in test_line_detector.cpp. Move this functionality over to linedetector.cpp

Increase adherence to SOLID principles in MainWindow by breaking out module hookups into separate controllers that get picked by a coordinator.

• Insert Module into inheritance hierarchy for all nodes in event graph.
• Make graphics function with a set of Modules instead of a bunch of specific member variables.
  • Make an AdapterFactory for generating the appropriate adapter for any Module.
• Add Controllers that can produce a complete event graph for robot control and provide the set of _Module_s to MainWindow.
• Add play/pause/stop slots to Coordinators so as much as possible can be handled on that level instead of MainWindow.

StringStream is used in several places to append various types to strings. Most if not all of those should be replaced with string's + operator and the new (C++11) std::to_string method.

Currently as the robot nears the goal the path planner will wobble. Basically it tries to plan a path to the left, then to the right, and oscillates, when it should stick to and follow a single path better.

Make an rviz plugin to display the current battery level.

http://docs.ros.org/indigo/api/rviz_plugin_tutorials/html/panel_plugin_tutorial.html

This is a thing that should happen.

Rules sec I.4 Qualification:
"Speed: The vehicle will have to drive over a prescribed distance where its minimum and
maximum speeds will be determined. The vehicle must not drop below the minimum of one mile
per hour and not exceed the maximum speed of five miles per hour. Minimum speed of one mph
will be assessed in the fully autonomous mode and verified over a 44 foot distance between the
lanes and avoiding obstacles. No change to maximum speed control hardware is allowed after
qualification. If the vehicle completes a performance event at a speed faster than the one it
passed Qualification at, that run will not be counted."

Rules sec. II.3 Obstacle Course:
"Simulated potholes of 2 foot diameter solid white circles may be inserted. These simulated pot must be avoided or an end of run will occur."

Towards the end of the advanced course there are red and blue flags that we have to drive between. The lidar is unable to detect the flags so the camera will need to be able to find them.

The mapper should match sensor frames with the temporally-closest position estimate.
This will involve keeping a small backlog of position data in the mapper.
Depends on #19

Applying the tf transform /imu -> /base_footprint on the IMU orientation quaternion does not produce the expected output. Grabbing Euler angles from the quaternion before and after the transformation shows the correct transformation in yaw, but leaves roll and pitch untouched.

Make sure path planning runs fast

The stereo camera we use spits out two image channels : left and right. We need to do the processing to turn those two images into a depth map either through the bumblebee's library or through OpenCV.

Idan was working on this for the 2014 year. Not entirely sure how far he got. We did notice at competition this year that the right and left feeds were backwards, which may have been causing him trouble.

On first build, some nodes in IGVC get built before igvc_msgs finishes, causing them to error out. Currently, all builds after the first one work fine, but we should still probably fix this.

Make sure that the lines are detected in a variety of brightness levels

When downloading the Qt installer, it was not removed from the base folder.

The test project hasn't been touched in a while and still has some references to the old event system that are breaking the build.

Currently linedetector.cpp uses a randomized algorithm to follow a random set of pixels and make sure that they connect through a minimum number of other line pixels in order to enforce that all lines are a certain length. This was done to make processing faster, but we need this algorithm to be deterministic. We cannot occasionally miss lines in images.

First step is to take some data about system load while running the robot. Maybe even make a node that logs this sort of information so we can directly associate it with ros activity?

Currently as the robot nears the goal the path planner will wobble. Basically it tries to plan a path to the left, then to the right, and oscillates, when it should stick to and follow a single path better.

We need an Rviz plugin which shows a single icon, which displays either an E-Stop detected, or E-Stop not detected image, depending on what is published to the /robot_enabled topic.

Rviz uses the rqt/Qt framework for displaying elements on the screen. It uses message passing with Signals and Slots.

Here is a good tutorial to help get you started with Rviz Plugins.
http://docs.ros.org/jade/api/rviz_plugin_tutorials/html/panel_plugin_tutorial.html

Check & double check the math for moving an individual frame to line up with the global map.

Add FPS Counters to sensor adapters so we know how often we are getting data from them.
Adapters to add FPS Counter to:
Joystick
LIDAR
Camera
GPS
IMU

FPS Counters should be located in the top right of the adapter window.

...can always be better

Good by private server git repo!

The stereo camera needs to be re-calibrated so that both the left and right images are cropped the same (same scale).

Use the camera.launch file to get the raw camera images and then use the ros camera_calibration package to do the calibration and scaling by taking in the left and right raw image topics. If the calibration files are not in the .yml format convert them to it using the camera_calibration_parsers package.

http://wiki.ros.org/camera_calibration/Tutorials/StereoCalibration
http://wiki.ros.org/camera_calibration
http://wiki.ros.org/camera_calibration_parsers

Make a widget that asks the user to select a log file, parses the selected log file, and displays it in all its color-coded glory to the user.
Add a menu item Logs->Viewer that launches this widget in its own window.

We need to be able to control data playback for the various simulated sensors.

Possible features:

• Play / pause / restart
  • Individual modules
  • All simulated modules at once (ie, simulated IMU, GPS, & LIDAR can be synced)

no bueno

Currently, igvc cannot build as igvc_msgs is required (but not built) before the igvc target, so it does not build. To work around, run make in /build/igvc_msgs. However, ths needs to be fixed before the CI stuff will work (nicely at least).