inFuse

h1. Sprints coarse definition

h2. Sprint TRR-1 05/03: “Unifying with Magellium & InFuse”

* Main goal: using ASN defined structures for the DFNs and DFPCs of the first instance of the sense(Lidar+DEM) / plan / move loop.

** DFPCs to initiate: VO Laas version

** DFPCs to work on: POM (using Envire)

** Non-LAAS DFPCs to integrate: None

** DFPCs to finalize: DEM building

* Targeted integration / demonstration (with Morse): same as previous sprint, with ASN.1 data types.

h2. sprint TRR-2 26/03: "Empowering robots with vision”

* Main objective: integrate vision-based DFPCs

** DFPCs to initiate: PlanTrajectory (out of InFuse scope) 

** DFPCs to work on: POM, VO

** Non-LAAS DFPCs to integrate: stereovision (MAG)

** DFPCs to finalize: None

* Targeted integration / demonstration (with Morse): same as previous sprint, with stereovision instead of Lidar.

h2. sprint TRR-3 16/04: “Porting the DFPCs on the real robots (part 1)"

*the Morse simulator will still be used)

* Main objective: start the integration of the finalized DFPCs on-board the robots

Deploy Camera, Velodyne, GPS and Robots drivers

** DFPCs to initiate: None

** DFPCs to work on: POM

** Non-LAAS DFPCs to integrate: VO (MAG version)

** DFPCs to finalize: VO (Laas version), PlanTrajectory (out of InFuse scope)

* Targeted integration / demonstration: first tests in LAAS premises with Mana (Lidar)

h2. sprint TRR-4 07/05: “Porting the DFPCs on the real robots (part 2)"

the Morse simulator will still be used

* Main objective: finish the integration of the finalized DFPCs on-board the robots

**DFPCs to initiate: None

** DFPCs to work on: POM

** Non-LAAS DFPCs to integrate: Point-Cloud Model-based localisation (UStrath)

** DFPCs to finalize: None

* Targeted integration / demonstration: first tests in LAAS premises with Minnie (vision)

h2. sprint TRR-5 28/05: "Finalize integration on the robots to prepare CNES tests"

* Main objective: having all the necessary functionalities ready to achieve tests at CNES 

** DFPCs to initiate: PoseGraph Lidar SLAM

** DFPCs to work on: None

** Non-LAAS DFPCs to integrate: Visual SLAM (MAG -- No loop closing, no POM integration)

** DFPCs to finalize: POM (VO & Odometry integration)

* Targeted integration / demonstration: more testings with Mana and Minnie in LAAS premises (parking lot)

h2. sprint TRR-6 18/06: "First test session at CNES"

* Main objective: perform tests of the following DFPCs: DEM building, VO (Laas version, MAG version), POM (VO & Odometry integration), Point-Cloud Model-Based Localisation, PlanTrajectory

** DFPCs to initiate: None

** DFPCs to work on: 

** Non-LAAS DFPCs to integrate: Visual SLAM (MAG -- No loop closing, no POM integration)

** DFPCs to finalize: POM (VO & Odometry integration)

h2. After CNES tests: (program to be refined)

* DFPCs to develop and integrate:

** Pose-Graph Lidar SLAM / Lidar Map-Based Localisation

** Absolute Localization

** Multi-Robot requests

** Full fledged POM

### TRR-7-09/07

### TRR-8-30/07

### TRR-9-20/08