soonerrobotics / igvc_software_2020 Goto Github PK

It would be useful to the path planning and navigation of the robot if we could have SLAM.

Using the gmapping package, we should try to track a global map so we can leverage our path planner more. This can also be an extension of the EKF to deliver better state estimation results

• Decide which specific Nucleo (as defined in the udev rules) will be used for the GPS and which will be used for the motor control firmware.
• Create a separate node for each serial connection. Figure out the best way to handle reading and writing to a serial device within one node.

#34 contains discussion regarding these points.

I haven't tested this but you may need a "global pp" tag in the "timer_callback" function in "igvc_nav_node.py", since it is being referenced. Just noticed since I'm looking at this file to get an idea of how to write the NRC version.

It is very annoying to have to count the index of the variable I want from the ekf state array. Pls fix.

It would be nice to set the initial state of the EKF by using the ROS parameter server rather than hardcoded values

Whatever SLAM algorithm we choose needs a good pose estimator so we can use it as part of the localization system. The SLAM pose can be fed into the EKF in addition to the dead reckoning we already have. This should increase the EKF's accuracy.