modulab/sweep

sweep's Issues

Create queue of programmatically set goals

Adapt existing implementation from untracked NUC workspace for programmatic goals.
Test the two solutions for queuing goals and chose one:

• follow_waypoints [1] <= preferred
• our implementation (found in the NUC workspace)

[1] http://wiki.ros.org/follow_waypoints

Set up individual workspaces on NUC

Add users for each contributor (sudoers with personal home):

• mants (radu)
• dan (dan)
• razvan (razvan)
• hagi (paul) <-- already exists

Default password is password. Change it at a later date.

Each user will clone this repo in his own home.
When you start working on a issue, create a new branch for development.
When you think your work is ready for integration in master, create a Pull Request.
Each PR needs at least one approval before you are authorized to merge your branch.
Make sure you review other's PRs.

Implement brush control on Arduino

Implement a way for the Arduino to perform certain actions (e.g. lower brush, start rotating, etc) based on serial input. Two options, chose one:

• create a ROS node on Arduino and expose a service / listen to a topic (few issues with this)
• use termios in the NUC's ROS node that contains the main logic in order to send commands directly on the serial (circumvent the ROS messaging system)

Integrate lidar filter

Integrate the lidar filter to block sensor data in the hind half plan.
This already exists on the untracked NUC workspace and works.

Workflow:

• rename laser data topic to something new
• subscribe our filter to the new topic
• for any hind half plan angle, set distance to Inf
• publish the modified scan frame on the original topic

Starting Point

Configure linorobot[1] to suit our needs.
Minimal requirements:

• working movement and localization sensors
• manual control
• manual map generation
• setting goals and position with rviz

[1] https://github.com/linorobot/linorobot