inFuse

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-

*** -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 (order placed) 

*** 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)*-

*** Make it pulse at fastest input instead of fixed frequency

*** -Crisp eat up to 50% of a single CPU core of minnie (too much, to investigate)-

*** 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?-

*** Update/Debug tiling system

*** Store information in raw form 

*** Allow Replay

*** Integrate luminance information

*** DFNCI-ize the DFNs

*** DFPCCI-ize the DFNCI-ized DFNs

*** 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?)