Meeting Minutes

Software Debrief - Lake Test Today

What happened?

• Go To Pose

  • Summary
    • Phase 1 - does an arc turn
    • Phase 2
      • Works as intended
      • Switches to phase 3, and then phase 1
      • Appears to overshoot destination
      • Never saw behavior change
    • Gets stuck in navigate_to_gate
  • mavros-utils
    • ghnav → main
    • extraneous branches deleted
    • navigate_to_pose.py
      • https://github.gatech.edu/ASDL-Robotics/mavros-utils/blob/main/mavros_navigation/mavros_navigation/actions/navigate_to_pose.py
      • Thomas: cmd vel publisher might not be working properly
  • It works fine in sim?
  • Does not work right in the real world
  • Shrey’s plan
    • Rebuild container to check dependency versions are all correct
  • Perhaps check ArduPilot parameters are identical

• Controller

• ArduPilot config needs to be updated to enable reverse R/C

• What was happening with the mode changes???

• Light tower

  • manual mode and disarm indicator

• publish orientation marker to rviz for visual debug

• Manual switching from loiter

  • Check if R/C failsafe?

• Debugging plan for navigate_to_pose

  • navigate_to_pose.py code review - anyone
  • triple check repo versions
  • look at bag file - Aaron taking a look tomorrow
    • throttle topics both positive?
  • side-by-side check ArduPilot parameters
  • what kind of testing?
    • run and tell it to yaw?

• rviz dropped towards end

• ardupilot needs bigger deadzone on R/C and motors?

Drone

• Test Thursday to check RTL fix
  • Still contingent on weather
  • Chris will be assisting, Sean too
  • More hands appreciated
• Old landing pad, see camera feed to assess and start preparing object detection pipeline
• If RTL fix and manual override are good, can do drone + boat test asap
  • Replicate GPS-boat-following script, get some data