Because of the short week due to the July 4th holiday, I'll merge the two weeks together for this update.
From July 5th to July 7th, my main work was to work on the camera plug-in for the Gazebo simulator, which was done by working with a fellow DREU intern. He mainly wrote the code, while I mainly did the math required for figuring out the coordinate system, constraints of the camera joints, and force to use for turning the camera joints, as well as research into the plugin system used in Gazebo. I also wrote the appropriate sections in the model.sdf file used to represent the rover in the simulation. Final prep was also done for the RSS Hackathon. I started printing "stand-offs" for the rovers, packing up supplies to ship out, and preparing for the competition itself the next week I learned a bit how Gazebo models coordinate systems through this minor project; joints are relative to the first parent "link" (a physical point on the model), while links are based on absolute coordinates relative to the base of the model. Revolute joints are the most common type, which are joints that can be rotated around an axis or set of axes located at a certain point. They can be constrained to particular axes, and those axes can have particular constraints on the angles possible for the joint to turn to. From July 10th to July 14th, I mostly prepared code and tested it for the competition. It was more or less final by Wednesday- Thursday was left to test it and get packed to leave Friday morning. We flew out to Boston from Albuquerque on Friday morning at about 11AM MST and arrived in Boston sometime around 9:30PM EST, got situated in the on-campus building we were staying at, and prepared for the Hackathon from Saturday to Sunday.
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AuthorKelsey Geiger: a maker, learner, teacher, and doer. Proud to be out and proud of her work. Archives
August 2017
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