MFET442 Team 6 - Exploding Car

This is the team6lab6 package for running with the rally car

Lab 6A specific Code: --> /team6_lab6a/scripts/wallfollow6a4mac.py /src/lab6A/wallfollower.py

• The code does a hallway following by taking measurements on both side of the LIDAR from the center line and comparing the distances between them to calculate the orientation error as the car would want to be in the middle of the hallway with each side's distance cancelling out to be around 0, Outlier measurements such as when encounter a window or metal door plate is handeled by a series of IF statements where if the distances are larger than a specified number they are set as zero and thus ignored.

Lab 6:

• 1: /rally_car/src/load_map_1/scripts/map_follow.launch /src/launch_files/map_follow.launch| Launch file that launches the Rviz window for use with the map and waypoints.py,

  • FIle actually saved with the modification of the specific path in front of the path.txt file name in save along with some debugging terminal information.

• 2: /rally_car/src/load_map_1/scripts/waypoint.py | waypoint.py file that takes 2D Nav from Rviz and also handles displaying the points back into Rviz

• 3: Three Things need to be run in order to see it in RVIZ,

  • roslaunch rallycar rallycar_hardware.launch

  • roslaunch load_map_1 amcl.launch // demo pkg still needs to be resolved.

  • roslaunch load_map_1 map_follow.launch

  • In RVIZ

    • Fixed Frame will be MAP
    • Pose with Covariance with the topic being /amcl_pose
    • Marker for the waypoints
    • 

• 4: Apr 19 "Wrote" map_follower.py, PoseWithConvayeranceStamped is the pose type you want to listen for

Apr 19, so car 6 got replaced as LiDAR isn't spinning up, so car 10 is with us now, but car 10's hardware motor and servo issue is not great. Apr 23, Issues Fixed, waypoints are waypointing, just needs to test it out in Knoy and then tune the PD more correctly.

• The amcl_pose is updating correctly.

Apr 24 Folder and Package Reorganization to do

team6_lab6.pkg/src

• config
  • config.rviz
• map_server
  • maps
    • map yaml and pgm and png files.
  • scripts
    • waypoints.py
• lab6A
  • wall_follow.py
• lab6
  • map_follower.py
• launch_files
  • amcl.launch
  • map_follow.launch

Apr 25 KNOY testing, the amcl keeps getting lost right after turn one at the start, we noticed that after passing though the toilets the amcl would think that the car is stationary causing the car to run straight into the wall at turn two. We are trying to fix this by tuning the hector_mapping settings.

Apr 26 Hector_mapping settings turned to match the given map settings, and the amcl update decay is tuned to a good point. A combination of Steering PD Controller tuning and the Accelerator tuning, we also experiment with differnt amount of waypoints for it to follow ranging from 21 to 88. We learned that actually fewer the waypoints the better the path following, so we are going to furthur tune and explore creating the best path with around 20 waypoints.

Apr 28 Overall locking in the tuning settings for the steering kp and kd, the sectors for dropping the current waypoint is made sure to work with the map we are settling on.

Apr 29 KNOY 500: Official Time ~48s

May 3 Updating the GitHub to the most recent comments following the given commenting rules.