le36 / ros2-mapper Goto Github PK

• In the simulator
• On the physical robot

Acceptance criteria

• The program can be started easily with one command

Story tasks

• #35

Acceptance criteria

• The robot can recognize a QR codes from the live image feed
• When finding a QR code, the robot sends a message to the memory node

Story tasks

• #29
• #31
• #30

Acceptance criteria

Separate report for each team member.

Points to cover:

• What worked?
• What didn't work?

Story tasks

• #28

Requires

• #20

Acceptance criteria

• Necessary information of QR code observations are saved in a database
• The observation time, QR code location, and the location of the TurtleBot3 are saved in one table
• The latest approximate location of the QR code is saved in another table

Story tasks

• #58
• #66
• #60
• #61

Acceptance criteria

• Create a demo video (specific instructions will be given later)

Story tasks

• #53
• #54

• Repository
• Unit tests

• The robot creates a map of the surrounding area in the simulation
• A physical robot creates a map of the surrounding area

Controlling must be done via terminal commands/parameters

• #33
• #34

Acceptance criteria

• Create a node that can save / fetch information when needed
• Save the data to an SQL database

Story tasks

• #33
• #34
• #32

• In the simulator
• On the physical robot

• The simulation does not need a camera node
• This camera node publishes to the same topic as the simulation camera

• The camera node works with the current nodes on the physical robot

Acceptance criteria

• The user can stop the autonomous exploration
• The user can continue the autonomous exploration
• The user can tell the robot to go to a specific QR code location
• The user can control the robot using a terminal interface

Requires

• #47

Story tasks

• #63
• #64

Acceptance criteria

• The robot moves autonomously without hitting any obstacles

Requires

• #10

Story tasks

• #20
• #21

Acceptance criteria

• The robot creates a map of the surrounding area in the simulation
• A physical robot creates a map of the surrounding area

Story tasks

• #17

• #1
• #5
• The robot can move using user input
• Study ROS2

• Setup RaspberryPi
• Setup OpenCR

Acceptance criteria

• Create a dependency chart which illustrates the communication between nodes and topics, etc.

Story tasks

• #56

• In the simulator
• On the physical robot

The CI doesn't run if the documentation is updated

• Run unit tests
  • #33
• Run linting
• Add badge to readme

• The robot can move to a given point

Acceptance criteria

• The robot always moves to the next unexplored area, until there are no unexplored areas left. (The implementation could use OccupancyGrid)
• The robot stops, for example, every 1 meter and then turns 360 degrees to find the QR codes
• The autonomous exploration should continue exploring even after the entire area has been explored
• The autonomous exploration node should be able to navigate to a given QR code. (Ideally the robot would position itself straight in front of the QR code)

Story tasks

• #51
• #52
• #55
• #57
• #59
• #62

Acceptance criteria

• Design the (initial) project architecture
• Document the architecture, for example, with UML

Story tasks

• #36
• #37

• #31
• #34

Requires

• #19
• #18

Subtasks

• Get live feed from the simulation
• Get live feed from a physical robot

Acceptance criteria

• The robot has a camera that shows live video feed in the simulation
• The physical robot has a camera that shows live video feed

Story tasks

• #19
• #18
• #11

Acceptance criteria

• The robot can move in the simulator using user input
• The physical robot can move using user input

Story tasks

• #1
• #3

Acceptance criteria

• The robots can communicate with eachother
• Multiple robots can communicate

• #6

Acceptance criteria

• The robot creates a map of the surrounding area in the simulation while moving
• A physical robot creates a map of the surrounding area while moving

Requires

• #10

Story tasks

• #16

• #29

• Testiä

Preferably the script also runs the program on the Raspberry Pi

• Create the script for Gazebo
• Create the script for the physical robot

• #38
• Figure out how to control from the remote PC