AfterCnesTODOs » History » Revision 66
Revision 65 (Pierre Narvor, 2018-10-08 16:46) → Revision 66/72 (Quentin Labourey, 2018-10-09 09:30)
h1. AfterCnesTODOs
Big TODO list following the CNES tests, sorted in topics, for which a responsible and a co-responsible is named.
* Hardware (Simon, Pierre)
** Minnie
*** -Redresser les HazCam-
*** -Install minnie-superbase-
*** -Install rear Hazcams-
*** -Tout revoir le câblage-
*** -Get some working Ethernet cables-
*** Surveiller l'évolution de la température des deux CPUs -boucher l'ouverture arrière du boitier pour une meilleure ventilation-
*** Câbler les synchros pour toutes les caméras
*** Trouver un moyen démontable de surélever l'antenne Wifi
*** Fix the GPS issue: where should we put the antenna?
*** Ré-installer le Lidar Sick
*** Acheter des cameras avec auto-exposure ?
*** -Réparer le câble de la MTI-
*** Install the dual antenna GPS ? (where ? with a deployable mechanism ?)
*** Documenter le câblage définitif
*** Tests extensifs Joystick
** Mana
*** -Installer la carte USB 3.0-
*** -Installer la caméra HS-D-
*** Changer le disque dur ?
*** Trouver un moyen démontable de surélever l'antenne Wifi
*** Tests extensifs Joystick
** Others misc things on the robots hardware
*** -5 replacement batteries for the Segway bases- (received)
*** Test the wifi backbone and the second access point
*** Revoir le montage de la première base GPS
*** Faire le montage de la seconde base GPS
*** Déployer le seconde base GPS
*** Moyen de géoréférencer un point (fil à plomb - mètre, clou de géomètre)
*** Test the SBG sensor ?
*** -Faire le bilan de toutes les tourelles PTU-
*** Get a few spare cables with connectors of the robots alimentation board (some with banana plugs)
* Logistique (Simon, who ?)
** Things to buy
*** New Wifi setup (order placed)
*** Vacuum cleaner
*** Really easily deployable tent (like the one Onera had)
*** Solid "sardines" and a strong hammer
*** A more solid light camping table?
*** Two higher masts for the two Wifi access points
*** Electric current generator
*** Small gasoline tank
*** Backup harddrive for the on-board PCs (are they all of same type?)
*** Hard drive with all the backups of Minnie, Mana, robotpkg, Ubuntu... et tout et tout (un RAID ? Un graveur de DVD ? Des clefs USB, autres moyens ?)
*** A second hard drive (more than one?) to store the acquired data
** Trier et ranger la boite à outils
** Tester le réseau Wifi longue portée (avec 2nd access point)
** Make the definite list of all that we need to bring
*** Matériel de backup: bastide, access points, PTU, Joysticks, GPS, minnie-base...
*** Matériel pour le calibrage extrinsèque (barres RexRoth?)
* Déploiement sur le terrain (Ellon, who ?)
** Update Bastide software
** -Declare minnie-cpu on bastide-
* Aspects système sur les robots (Ellon, Quentin)
** Faire en sorte que les devices USB soient toujours sur le même port (avec udev something)
** Faire des miroirs d'Ubuntu
** Mount all the minnie-superbase hard drive on minnie-cpu
** Synchronise both robots time
* Scripts de startup sur les robots (Ellon, ...)
** -Define the way to do them-
** Finish them
* Project deliverables (Simon, ...)
** 20/08/2018: 24 deliverables are due by the end of the project !?!
* RobotPkg (Ellon, Quentin) - mais tous doivent savoir faire
** -Packager GPS-
** -Packager velodyne-genom3-
** -Pacakger infuse-asn1-conversions-
** Packager PTU
** -Packager Envire-
** -Packager InFuse types-
** -Package infuse-pom-base-
** -Packager infuse-pom-crisp-
** -Packager infuse-crisp-genom3-
** -Packager infuse-pom-tokamak-
** -Packager infuse-tokamak-ros-
** -Packager infuse dem building-
** -Packager infuse dem building ROS-
* ROS
** Possibilité (intérêt) de séparer des ros-core ?
** Utilisation de nodelets ?
* CDFF (Quentin, who ?)
** -Finalize the InFuse-types-
***- Introduce flags in the pose type to specify which variables are estimated-
*** -introduce a string in the pose type to specify who produced the pose-
*** -There was an issue in the serialization of strings?-
*** -Get rid of this @#$$#% dependency on a .exe file !-
** -Move the types to the main CDFF -- clarifies the situation after the early August merge wrt our package.-
** DFNs (& DFPC ?)
** -Make separate git repos-
* Intégration / exploitation des softs de MAG (Andrea, who)
** Récupérer un docker à jour
* Display utilities => *Visualization is currently being developped by DFKI and necessitates subscription to DFNCI/DFPCCI*
** Integrate the DFKI developments?
** Where would RVIZ be helpful?
** Develop a web-based monitoring system?
* Gestion des jeux de données acquises (Simon, who)
** Dump rosBags, or have the modules dump their data individually? => *This needs to be discussed seriously*
** Définir la manière de gérer les données sauvegardées
** Faire des utilitaires d'exportation des rosBags vers des fichiers individuels
** Le service replay de DFKI est-il OK?
* Simulation (Andrea, ...)
** Make a clear scheme of the interfaces (the ROS graph, and a more conceptual one?) Will be done by MAG
* Les modules/noeuds/DFPC
** Cameras (MAG)
*** Have a node able to acquire any of the three stereo benches, including "all of them"?
*** Discuss with MAG the best trigger choice (controlled, or periodic?)
*** Make the extrinsic calibration
** GPS (Ellon, ...)
*** Procédure d'initialisation de l'angle wrt. nord
*** -Récupération des trames bestutmb-
*** Decode the standard deviations
*** (Aug. 6) Why can't the bestutmb messages be retrieved at 20Hz?
*** Maybe Switch to OEM6 models ?
*** Clarify the situation wrt. gps_send / dgpssend, gps_receive... (the later being installed via the Genom2 GPS module!)
*** Why the z value are not consistent between Mana and Minnie ?
** RMP's (Pierre, Ellon)
*** Comment remonter le fait que la puissance n'est pas en route ?
*** -Erreurs du gyro quand le module est en track-mode ?-
*** -Procédure d'estimation du biais du gyro-
*** Procédure d'estimation des biais de la MTi pour les angles d'attitude
*** -RMP4?0 en Odo 3D (récupération des données des MTI)-
*** Remonter l'état de la batterie (RMP440 sur Minnie), faire une alarme ?
*** Régler la dynamique des Joysticks, limiter à 1.0 m/s à la main
*** Tester les fonctions de l'arrêt d'urgence (et notamment re-coder la reprise avec le bouton 3 ?)
*** Tester le log des données (faire un log qui dumpe toutes les données brutes ?)
*** Define a noise model for the gyro and the MTI ? (doing statistics, at rest and while moving)
** Lidar Velodyne (Ellon, who)
*** Define blind sectors, remove associated data
*** Check why the 1Hz frequency could ne be reached during tests in the parking
*** Dépendance de velodyne-libs sur Envire ?
*** Make a permanent acquisition task?
** Lidar Sick (Simon, ?)
*** Recover the modules developed by Harold
*** Export an InFuse point cloud
** Caméra HS (Edouard, Simon)
*** Install acquisition drivers on Mana
** PTU (Pierre, ...)
*** Package the ROS node used during CNES tests
*** -Export an inFuse-pose-
*** -Check the maximum possible speed- : it is 0.5 rad/s
*** What is the difference between setpoints and measured angles? Get the measured angles
** Crisp (Pierre, ...)
*** -Conclude on the use of Envire-
*** -Check the chain of frames-
*** -Fix time stamps-
*** Calibration: estimate the true values of the fixed frames *(CONTACT MAG about rectified calibration data)*
*** DFNization to be discussed
*** Pose logging ?
** Tokamak (Quentin, ...)
*** -Define the simple "aggregate-crush" fusion scheme-
*** Create a fusion interface (even for simple fusion)
*** Update set_pose to add a childFrameId
*** Update initialization to be able to connect odom frames easily
*** Integrate a KF (e.g. to fuse Odometry and VO)
** DEM (Quentin, ...)
*** Solve the big bug
*** Review the way the InFuse types are used?
*** Integrate luminance information
*** quid si update a posteriori du cap? --> stocker les PtClouds et non les DEM locaux ?
** VO (Andrea, ...)
*** Make it run on-board the robot
*** Infuzation ?
** PG-SLAM (Ellon, ...)
** AbsLoc (Andrea, ...)
*** RdV avec Andrea pour définition
** P3D (Simon, Pierre)
** PurePursuit
*** Extract it from the docker?
* Infusing the DFPCs (Pierre, Quentin)
** Update DEM building with DFNCI, DFPCCI, and new ros nodes : inclusion in CDFF, CDFF_ROS
** Update Tokamak with DFNCI, DFPCCI, and new ros nodes : inclusion in CDFF, CDFF_ROS
** Update CRISP building with DFNCI, DFPCCI, and new ros nodes : inclusion in CDFF, CDFF_ROS
* Documentation (all, depending on their responsibilities)
** Mana and Minnie wiring
** Robot startup and security (do not forget to look around the robot wether there are any trailing cable)
** Joystick: procédure d'appariement, de calibrage (jscal -c /dev/input/js0)
** Basic operations (security, start-up)
** Firow vs. wiki-robots vs. redmine ?
** Make a clear scheme of all the involved modules (the ROS graph, and a more conceptual one?)