Agenda for Today

1. Drone Test Results
   1. 3 objectives
      1. Fix RTL
      2. Verify manual override
      3. Get bag data of landing pad
   2. All 3 met
2. Update on the BBX Ardupilot Problems
   1. Turning problem - looks like they’re reversing for most of the bag, missing visual data
      1. motors do reverse
   2. Checking parameters between BB04 and BB05
      1. Shrey checking it
      2. Will update navigate_to_pose to be simpler
   3. Automated change of state problem
      1. Ardupilot’s failsafe is set to hold, not manual
      2. Controller is asserting manual through one of its channels?
3. Update on the BBX Transforms
   1. Camera frames are 50% sorted
      1. The URDF publishes duplicate transforms
   2. Lidar frame names updated ****
4. Update on gt-ocs
   1. Foxglove setup should be a breeze (for x86 machines)
5. Update on sharing semantic map
   1. Sean (look at Paul’s stuff)
      1. 2 people writing code in addition to Shrey and Paul (for boat)
         1. actively reach out to people
            1. Shrey reaching out to Marcus?
            2. Auryn for perception?
         2. Need more specifics to move forward on
   2. drone-boat sharing info
   3. drone as eye in the sky, send detections to boat directly
      1. semantic map sharing…
      2. objects and meta-objects
         1. meta-objects are composed from object detections
6. We need to figure out a way to get transforms between vehicles
   1. Samuel and Shrey
   2. How do this?
   3. What reference frame to use? etc.

From TF Tree

bb05/stbd_oakd_pro_w_link

From Driver

bb05/stbd_oakd_link

Sprints