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467final's Introduction

MAAV Software

Table Of Contents

GNC

Guidance, navigation, and control.

Setup and Running

./scripts/setup.sh

Set the MAAV_SOFTWARE_DIR environment variable on your machine to the path to the maav software folder on your machine. Add export MAAV_SOFTWARE_DIR='path' to your shell config.

Compile the code:

mkdir build

cd build

cmake ..

make -j

Download the TUMs dataset (GNC):

https://vision.in.tum.de/rgbd/dataset/freiburg1/rgbd_dataset_freiburg1_xyz.tgz

extract into datasets/

Run the example (GNC):

./bin/tums Vocabulary/ORBvoc.txt tests/tums/TUM1.yaml datasets/rgbd_dataset_freiburg1_xyz tests/tums/associations/fr1_xyz.txt

Perception

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467final's Issues

Interface with Servos

  • how do we control the servos?
  • do we need to design our own interface or use a library?
  • which servos do we want to use?

Custom Arm

  • Get all parts designed by end of 11/10/19.
  • BOM to order at the start of next week
  • what joints do we need to test, prepare files

GUI

  • start designing in python
  • process a stream of images
  • what should the robot class send to the gui to be able to output it

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