elrob meeting07/03/061 elrob meeting 7.03.2006. elrob meeting07/03/062 integration days ● tuesday...
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ELROB Meeting07/03/06 1
ELROB Meeting 7.03.2006
ELROB Meeting07/03/06 2
Integration days
● Tuesday 7
– meeting
● Wednesday 8
– coding day at EPFL
● Thursday 9
– experiments Thun // coding day EPFL
● Friday 10
– experiments Thun // coding day EPFL
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Agenda
➢ 13h30 Status of the projet
• 14h00 Goal of the integration days
• 14h10 Experiments proposal
• 14h30 Discussion about the experiments
• 15h30 Coffee break
• 15h45 Task definition
• 17h00 End of the meeting
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The car is back
● New tires (more grip)● Slightly higher ground clearance (3 cm)
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Emergency stop
RUNRUN0
PAUSEPAUSE1
DISABLEDISABLE2
Stop Flash
T10
T01
T12
T02
{e_stop}
{e_stop}
{e_sw_run} {e_sw_pause}
Flash ON
Flash ON
Flash OFF
Wireless com
Remote control
[e_stop]
[e_stop, e_sw_run, e_sw_pause]
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E-stop
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ECU
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Energy board
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Steering board
Before
After
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Life video
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Mechanics
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Trunk
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Trailer
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Index for the turning sick
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3D Sicks
Processing power
Vehicle (rack 0)Vehicle (rack 0)
Scene interpretation (rack 3)Scene interpretation (rack 3)
Car sensors and actuators
NAV420 + GPS
Omnicam
Navigation (rack 1)Navigation (rack 1)
Navigation Sicks
Camera
3D Mapping (rack 2)3D Mapping (rack 2)
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Processing power
● Vehicle rack (cpu 0)– localization
– car control
– vision for navigation
● Navigation rack (cpu 1)– global traversability map
– path planning
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Processing power
● 3D Mapping rack (cpu 2)– 3D mapping
– local traversability map
– visual motion estimation
● Scene interpretation cpu (cpu 3)– scan segmentation– object detection
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Agenda
• 13h30 Status of the projet
➢ 14h00 Goal of the integration days
• 14h10 Experiments proposal
• 14h30 Discussion about the experiments
• 15h30 Coffee break
• 15h45 Task definition
• 17h00 End of the meeting
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Goals of the integration days
● Set up the car for the experiments
● Log data in rough terrain
● Define the interfaces between the modules
● Define who is responsible for coding what
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Agenda
• 13h30 Status of the projet
• 14h00 Goal of the integration days
➢ 14h10 Experiments proposal
• 14h30 Discussion about the experiments
• 15h30 Coffee break
• 15h45 Task definition
• 17h00 End of the meeting
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Experiments
● For the moment the system can “only” log data
● No localization is available yet
● No autonomy test yet
➔ log data and work offline!
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Logfiles
● Available log files
– nav420_angle.log– nav420_scaled.log – nav420_gps.log– multisick.log– rotatingsick.log– smart.log
(cannot log angle and scaled at the same time)
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nav420_scaled.log
# Header for SCALED mode# 1: stamp [s]# 2: mode(0)# 3: gps itow [s]# 4: BIT (flags)# 5,6,7: acceleration [m/s^2]# 8,9,10# rates [rad/s] |# 11,12,13: magnetic field [Gauss]# 14,15,16: axis temperatures [K]# 17: cpu temperature [K]
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nav420_angle.log
# Header for ANGLE mode# 1: stamp [s]# 2: mode(1)# 3: gps itow [s]# 4: BIT (flags)# 5,6,7: angle [rad]# 8,9,10: rates [rad/s]# 11,12,13: acceleration [m/s^2]# 14,15,16: magnetic field [Gauss]# 17: sensor temperature [K]
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nav420_gps.log
# Header for GPS log# This file contains GPGGA and GPRMC
structures (we skip some field)# GGA format is :# 1: G (means that the row is GPGGA)# 2: validity# 3: measurement id# 4: measured time [s]# 5: available time [s]# 6: UTC [s]# 7: latitude [rad]# 8: longitude [rad]# 9: number of satellites
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nav420_gps.log
# 10: HDOP# 11: quality# 12: altitude [m]# 13: geo seal level# 14: differential data age# 15: diff station id
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nav420_gps.log
# RMC format is :# 1: R (means that the row is GPRMC)# 2: validity# 3: measurement id# 4: measured time [s]# 5: available time [s]# 6: UTC [s]# 7: latitude [rad]# 8: longitude [rad]# 9: Speed [m/s]# 10: True course [rad]# 11: UT Date
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multisick.log
# multisick SICK0 scan log file# 1: timestamp [sec.microsec]# 2: number of points# 3...n: scan points [m]
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rotatingsick.log
# rotatingsicks scan log file# 1: last zero position timestamp [sec.microsec]# 2: SICK ID (0 or 1)# 3: scan timestamp [sec.microsec]# 4: number of points# 5...n: scan points [m]
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smart.log
# 1 timeval [s]# 2 v_curr [m/s]# 3 phi_curr [rad] # 4 pedal value [percent]
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Experiments proposal
Excel sheet
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Agenda
• 13h30 Status of the projet
• 14h00 Goal of the integration days
• 14h10 Experiments proposal
➢ 14h30 Discussion about the experiments
• 15h30 Coffee break
• 15h45 Task definition
• 17h00 End of the meeting
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Agenda
• 13h30 Status of the projet
• 14h00 Goal of the integration days
• 14h10 Experiments proposal
• 14h30 Discussion about the experiments
➢ 15h30 Coffee break
• 15h45 Task definition
• 17h00 End of the meeting
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Agenda
• 13h30 Status of the projet
• 14h00 Goal of the integration days
• 14h10 Experiments proposal
• 14h30 Discussion about the experiments
• 15h30 Coffee break
➢ 15h45 Task definition
• 17h00 End of the meeting
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SVN
● https://lsa1pc12/svn/elrob/trunk/– base (includes common libs and vehicle stuff)
● module 0● module 1● ...● library 0● ...
– mapping (3D mapping)– scene (scene interpretation)
Make install create/fills the following folders– include (common headers)– lib (common libraries)– bin (binaries)
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Coding rules
● create scripts folder with a config script
● Important libraries to use
– libEtime (time related functions)
– libTools (conversion macros, common types, debug function EDBG, etc)
● Use only SI units
● Logfiles
– prefix filename with the module name
– first column = data time stamp
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Logfiles
● Example nav420.log# Header for ANGLE mode# 1: time stamp [s]# 2: unit mode (1)# 3: gps itow [s]# 4: BIT (flags)# 5,6,7: angle [rad]# 8,9,10: rates [rad/s]# 11,12,13: acceleration [m/s^2]# 14,15,16: magnetic field [Gauss]# 17: sensor temperature [K]
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Task definition (who)
● GenoM/Carmen interface (IPC proxy)– Fred and Cyrill
● distant posters– Fred
● localization– Pierre
● visual motion estimation– Davide, Emanuele
● 3D scan alignment– Rudi, Patrick
● 3D data generation– Jan, Fred
● Calibration– Davide, Kristijan, Luciano, Bjoern
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Task definition (who)● distinctive objects in the scene
– Cyrill(dynamic obs & building), Giorgio(dynamic obs & buildings), Stephan(planes from 3D scans), Luciano (artificial obj detection)
● image segmentation– Luciano (scene interpretation), Kristijan
(navigation) ● navigation sicks, vision / traversability maps
– Kristijan, Felix, Viet, Stephan● path planning
– Sascha, Kristijan● E-stop
– Sascha● Simulator
– Christian
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Teams for tomorrow
● Prepare the racks– Sascha, Fred, Pierre, Cyrill
● “IPC/GenoM” (if possible)– Cyrill, Rudi, Fred, Christian
● C++ interface– Giorgio
● Logfile parser– Patrick, Giorgio
● Cameras– Kristijan, Davide
● 3D sick– Fred (no mounting), Jan, Marcelo (+Stefan)
● Navigation sicks– Kristijan, Fred, Marcelo (+Stefan)
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Teams for tomorrow
● Calibration experiment definition– Davide, Kristijan, Luciano
16H45 First test (EPFL)!