for long term TODO list, see github page

Aug, 21

  • [x] plugin disable during px4.launch, changed px4_plug.yaml file: need to find another way
  • [x] check if we could get velocity information from mavros in offboard mode without position information: nope

Aug, 23

  • [x] Need to fix: RC car trajectory following found problem: the subscriber callback functions will not be invoked if the subscriber is initiated before publisher.
  • rccar_controller.launch needs to be launched after test\_track\_following.py and mocap\_odom\_bridge.py
    • check out if changing order in launch file helps? this does not help
    • need to find what the problem really is

Temporary solution: separate into two launch files, commander need to be launched first and controller launched later

  • [x] Brandon from MIT visiting:

    • car cost close to $6000
    • jetson tx2
    • slam package: google cartographer

  • [x] switching to offboard mode: need to start teleop node before starting px4.launch. This is essentially the same problem as the first point.

    • potentially fix in Firmware? or leave it there

Further: launching px4.launch is quite time consuming.

  • [ ] velocity reading is pretty bad right now, need to use IMU information and write a filter? Is it easy to incorporate encoder quickly? Brandon also mentioned reading velocity information from speed controller.

Solution: changed filter for now. still need to investigate on other ways to get velocity

  • [x] problem in flight room:
    • position publish is slow, network issue?

Aug. 28

  • [ ] need to investigate more about trajectory tracking.
    • write scripts where Odometry information could be saved as txt file and plot it: writer.py in scripts and also in Documents/RCcar
    • increase the maximum speed of RC car (change mixer file): changed to 4000 in mixer file? may change to 3000 later
    • model steering angle and command value (linear? deadzone? etc)

Aug. 29

  • [ ] trajectory tracking:
    • parameter tuning for PID controller
    • changed coordinated in controller and mocap bridge, need to see if the changes are correct
  • [ ] pipeline with game planner
    • test track in flight room in simulation
    • test in experiments

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