Deliverable:
Photos and documentation.

The initial idea and design of the neck.

Deliverable: Final idea and initial designs.

Como sugirio @tomvik hay que definir para los scripts de python que desarrollamos en @Home. Links utiles:
https://dev.to/j0nimost/setting-up-pep8-and-pylint-on-vs-code-34h
http://python.org/dev/peps/pep-0008/#variable-annotations
https://google.github.io/styleguide/pyguide.html#319-type-annotations

Deliverable:
CAD and Photos

Deliverable: PR of the parser with the new actions for the challenges.

Investigar/Hacer algún tipo de estudio para determinar la posición más activa de la pantalla en el robot. Esto involucra integrar con el diseño actual de Aldo y Amin.

Draft de las medidas de los componentes involucrados

Deliverable: Lista, sketch, de las medidas y componentes que afecta la cabeza + pantalla.

Deliverable: CAD of the robot including the new design arm.

Deliverable:
Photos and Doc

IN the main engine package, each action of the robot should be handled independently to contact the action server and perform the steps needed to complete it.

Deliverable: PR with the classes.

• Joints 5 and 6.

Test different drivers to improve performance and reliability of the arm.

Deliverable: Doc with information about the new drivers: current A4988, 2208, 2209.

Objectives:

• Make the robot simulation move with IRL movements fo the encoders by sending odom/ frame transform.
• Make these movements be attached to a map provided by the map server.
  Extra:
• Have the ability to approximate by meters the movements made.

Deliverables

• PDF image of the transform tree
• Video demo

Objectives:

• Define flags from main_engine (abort/cancel)
• Develop search_room action sever

Deliverable:

• PR
• Run Pylint

Deliverable: Proposed design of the new elevator of the robot considering the elevator of the arm.

What needs to be done and how it should be done.

Deliverable: Document of planned changes to the parser + main engine to complete 2 challenges of stage 1.

Deliverable: Up and running the parser module and main engine.

Deliverables:

• Modified github action to run tests
• Some proof-of-concept tests

Deliverable: Spreadsheet of calculations regarding the height of the arm in the robot.

Necessities of the robotic system in general

• Motor calculations
• Stepper pressure/inertia/torque/force

Explain the project, assign onboarding tasks, generate work plans.

Deliverable:
PR

• Algorithm for path follower given list of points in cvs
• Implement the cancellation listener/action/validation function and stop the movement.

Deliverables:

• PR

Objectives:

• Documentation design of the algorithm
• Goal provider v2
• Goal-path calculator
  Note: Objects of interest and room layout will be taken into account.

Deliverable: PR

Calculate force/momentum according to the robot's new points of center mass created by the arms/base.

• Rotating robot
• Moving robot

(idk plz edit this issue)

New classes (Definition):
Search Object (Dummy)
Approach (Dummy)
Goto (Real)

Implementation:
Search Object.

Deliverable: Completed Goto Class (PR).

Deliverable:

• Photos and CAD. (Bottom Part of the Robot)

Define the three navigation actions and their corresponding interactions with the different modules of the general system.

Deliverable: Design and Doc

Iniciar investigación del programa RASA.
Iniciar etapa de aprendizaje respecto a las funcionalidades que se pueden lograr y aportar al equipo.
Investigar e instalar herramientas necesarias para el desarrollo esperado.

Leyeran la documentacion main_engine

Deliverable: Demo Chatbot with stories, domain information and forms.

Read the documentation, code and talk with the previous developers.

• Talk with Iqui

• Talk with Alexis

• Talk with Cardozo

• Read Home Beginners Challenges

• Read Home Stage 1 Tests

Find a way to automate building and testing the develop branch
Deliverable: testing examples in the main engine package and docs on how to CI the project

The robot's current motors are too slow with a velocity of approx 0.2 m/s, when the goal is of at least 0.43 m/s.
Adding @Mechanics to the issue to help with the specs of the motoros.

integrate Cardozo + Iqui to generate 3D image based on 2D image.

Deliverable: PR

Update the CAD to include the new arm and elevator into the design.

Deliverable: CAD and PR to Mechanical-Design Branch.

Generate Unit testing for navigation and/or base control.
Deliverable: Unit tests for the base control/navigation

So the error logs can be seen here: https://github.com/RoBorregos/Robocup-Home/runs/1231296520?check_suite_focus=true#step:3:28

Perhaps something similar to the link below is happening with us. If it is only occurring on push, then I see no big issue while the PR has been properly checked and there are no direct pushes to develop.

https://github.community/t/occasionally-authenticating-with-github-token-fails-when-doing-git-push/18229/5

Or maybe it is related to this issue, however it seems like we're using the new key and not the old one:
https://answers.ros.org/question/325039/apt-update-fails-cannot-install-pkgs-key-not-working/

• Check that the robot has the correct dimensions and that the torque in the elevator is wont make it fall over someone.
• Calculate how much does it take for the robot to reach the top.

Deliverable: CAD of new design + BOM of parts required.

Print the pieces of arm
Deliverable: Photos of the pieces and documentation of the process.

Point mapping.

To achieve a better organization and to even allow externals easily use our ROS packages without having to change names, define and implement a new packages' name convention.

I think is fine having that convention and you (navigation, with this PR) can start doing it like that. About the mentioned problem, I think could be later resolved with a new pkg name and path standard like: catkin_home/src/robo/athome/navigation/a_pkg -> package(robo_athome_navigation_apkg).

Originally posted by @diegocardozo97 in #25 (comment)

Intents & Form Implementation
Deliverable:
PR and a short demo of the intents implemented this semester.

Steps to recreate:

1. checkout to develop
2. run catkin make
3. an import error appears in the arm vision package.
   Image related:
   

Migrating from Intel camera to Kinect.

Deliverable: PR

Testing odometry in the robot (IRL).

Deliverable: PR and wiki entry.

Simulation reflects real-life movement (simulation + control of the robot)

rqt_graph

Rviz model for Base control

• [] Investigation
• [] Prototype.

! Deliverable: PR with Rviz model and documentation.

Github has deprecated a set of commands used on the workflow that we use for our CI.

Remembering that our CI depends on: https://github.com/betwo/github-setup-catkin to setup ROS.

More details on the deprecation of these commands is seen in: https://github.blog/changelog/2020-10-01-github-actions-deprecating-set-env-and-add-path-commands/

The solution I propose is to create an issue on betwo's repository, fork it, and solve it.

The error looks like:

This may be a part 1 of 2, where the end goal is to move the project to ROS2.

Why go through ROS Noetic first? As recommended by ROS' webpage:

This may be a good (optional) first step if you want to make the transition to ROS2 Foxy from ROS1 Kinetic or ROS1 Melodic. You can first port your ROS1 code to ROS1 Noetic and make sure everything works with Python3. Then, you can switch to ROS2.

Investigation: What type of elevator is best for our application.
CAD of the Elevator.

Deliverable: CAD of the elevator and documentation of reasoning behind the chosen type etc...