ELROB Meeting07/03/06 1

ELROB Meeting 7.03.2006

ELROB Meeting07/03/06 2

Integration days

● Tuesday 7

– meeting

● Wednesday 8

– coding day at EPFL

● Thursday 9

– experiments Thun // coding day EPFL

● Friday 10

– experiments Thun // coding day EPFL

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Agenda

➢ 13h30 Status of the projet

• 14h00 Goal of the integration days

• 14h10 Experiments proposal

• 14h30 Discussion about the experiments

• 15h30 Coffee break

• 15h45 Task definition

• 17h00 End of the meeting

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The car is back

● New tires (more grip)● Slightly higher ground clearance (3 cm)

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Emergency stop

RUNRUN0

PAUSEPAUSE1

DISABLEDISABLE2

Stop Flash

T10

T01

T12

T02

{e_stop}

{e_stop}

{e_sw_run} {e_sw_pause}

Flash ON

Flash ON

Flash OFF

Wireless com

Remote control

[e_stop]

[e_stop, e_sw_run, e_sw_pause]

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E-stop

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ECU

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Energy board

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Steering board

Before

After

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Life video

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Mechanics

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Trunk

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Trailer

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Index for the turning sick

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3D Sicks

Processing power

Vehicle (rack 0)Vehicle (rack 0)

Scene interpretation (rack 3)Scene interpretation (rack 3)

Car sensors and actuators

NAV420 + GPS

Omnicam

Navigation (rack 1)Navigation (rack 1)

Navigation Sicks

Camera

3D Mapping (rack 2)3D Mapping (rack 2)

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Processing power

● Vehicle rack (cpu 0)– localization

– car control

– vision for navigation

● Navigation rack (cpu 1)– global traversability map

– path planning

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Processing power

● 3D Mapping rack (cpu 2)– 3D mapping

– local traversability map

– visual motion estimation

● Scene interpretation cpu (cpu 3)– scan segmentation– object detection

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Agenda

• 13h30 Status of the projet

➢ 14h00 Goal of the integration days

• 14h10 Experiments proposal

• 14h30 Discussion about the experiments

• 15h30 Coffee break

• 15h45 Task definition

• 17h00 End of the meeting

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Goals of the integration days

● Set up the car for the experiments

● Log data in rough terrain

● Define the interfaces between the modules

● Define who is responsible for coding what

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Agenda

• 13h30 Status of the projet

• 14h00 Goal of the integration days

➢ 14h10 Experiments proposal

• 14h30 Discussion about the experiments

• 15h30 Coffee break

• 15h45 Task definition

• 17h00 End of the meeting

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Experiments

● For the moment the system can “only” log data

● No localization is available yet

● No autonomy test yet

➔ log data and work offline!

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Logfiles

● Available log files

– nav420_angle.log– nav420_scaled.log – nav420_gps.log– multisick.log– rotatingsick.log– smart.log

(cannot log angle and scaled at the same time)

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nav420_scaled.log

# Header for SCALED mode# 1: stamp [s]# 2: mode(0)# 3: gps itow [s]# 4: BIT (flags)# 5,6,7: acceleration [m/s^2]# 8,9,10# rates [rad/s] |# 11,12,13: magnetic field [Gauss]# 14,15,16: axis temperatures [K]# 17: cpu temperature [K]

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nav420_angle.log

# Header for ANGLE mode# 1: stamp [s]# 2: mode(1)# 3: gps itow [s]# 4: BIT (flags)# 5,6,7: angle [rad]# 8,9,10: rates [rad/s]# 11,12,13: acceleration [m/s^2]# 14,15,16: magnetic field [Gauss]# 17: sensor temperature [K]

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nav420_gps.log

# Header for GPS log# This file contains GPGGA and GPRMC

structures (we skip some field)# GGA format is :# 1: G (means that the row is GPGGA)# 2: validity# 3: measurement id# 4: measured time [s]# 5: available time [s]# 6: UTC [s]# 7: latitude [rad]# 8: longitude [rad]# 9: number of satellites

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nav420_gps.log

# 10: HDOP# 11: quality# 12: altitude [m]# 13: geo seal level# 14: differential data age# 15: diff station id

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nav420_gps.log

# RMC format is :# 1: R (means that the row is GPRMC)# 2: validity# 3: measurement id# 4: measured time [s]# 5: available time [s]# 6: UTC [s]# 7: latitude [rad]# 8: longitude [rad]# 9: Speed [m/s]# 10: True course [rad]# 11: UT Date

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multisick.log

# multisick SICK0 scan log file# 1: timestamp [sec.microsec]# 2: number of points# 3...n: scan points [m]

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rotatingsick.log

# rotatingsicks scan log file# 1: last zero position timestamp [sec.microsec]# 2: SICK ID (0 or 1)# 3: scan timestamp [sec.microsec]# 4: number of points# 5...n: scan points [m]

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smart.log

# 1 timeval [s]# 2 v_curr [m/s]# 3 phi_curr [rad] # 4 pedal value [percent]

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Experiments proposal

Excel sheet

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Agenda

• 13h30 Status of the projet

• 14h00 Goal of the integration days

• 14h10 Experiments proposal

➢ 14h30 Discussion about the experiments

• 15h30 Coffee break

• 15h45 Task definition

• 17h00 End of the meeting

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Agenda

• 13h30 Status of the projet

• 14h00 Goal of the integration days

• 14h10 Experiments proposal

• 14h30 Discussion about the experiments

➢ 15h30 Coffee break

• 15h45 Task definition

• 17h00 End of the meeting

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Agenda

• 13h30 Status of the projet

• 14h00 Goal of the integration days

• 14h10 Experiments proposal

• 14h30 Discussion about the experiments

• 15h30 Coffee break

➢ 15h45 Task definition

• 17h00 End of the meeting

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SVN

● https://lsa1pc12/svn/elrob/trunk/– base (includes common libs and vehicle stuff)

● module 0● module 1● ...● library 0● ...

– mapping (3D mapping)– scene (scene interpretation)

Make install create/fills the following folders– include (common headers)– lib (common libraries)– bin (binaries)

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Coding rules

● create scripts folder with a config script

● Important libraries to use

– libEtime (time related functions)

– libTools (conversion macros, common types, debug function EDBG, etc)

● Use only SI units

● Logfiles

– prefix filename with the module name

– first column = data time stamp

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Logfiles

● Example nav420.log# Header for ANGLE mode# 1: time stamp [s]# 2: unit mode (1)# 3: gps itow [s]# 4: BIT (flags)# 5,6,7: angle [rad]# 8,9,10: rates [rad/s]# 11,12,13: acceleration [m/s^2]# 14,15,16: magnetic field [Gauss]# 17: sensor temperature [K]

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Task definition (who)

● GenoM/Carmen interface (IPC proxy)– Fred and Cyrill

● distant posters– Fred

● localization– Pierre

● visual motion estimation– Davide, Emanuele

● 3D scan alignment– Rudi, Patrick

● 3D data generation– Jan, Fred

● Calibration– Davide, Kristijan, Luciano, Bjoern

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Task definition (who)● distinctive objects in the scene

– Cyrill(dynamic obs & building), Giorgio(dynamic obs & buildings), Stephan(planes from 3D scans), Luciano (artificial obj detection)

● image segmentation– Luciano (scene interpretation), Kristijan

(navigation) ● navigation sicks, vision / traversability maps

– Kristijan, Felix, Viet, Stephan● path planning

– Sascha, Kristijan● E-stop

– Sascha● Simulator

– Christian

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Teams for tomorrow

● Prepare the racks– Sascha, Fred, Pierre, Cyrill

● “IPC/GenoM” (if possible)– Cyrill, Rudi, Fred, Christian

● C++ interface– Giorgio

● Logfile parser– Patrick, Giorgio

● Cameras– Kristijan, Davide

● 3D sick– Fred (no mounting), Jan, Marcelo (+Stefan)

● Navigation sicks– Kristijan, Fred, Marcelo (+Stefan)

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Teams for tomorrow

● Calibration experiment definition– Davide, Kristijan, Luciano

16H45 First test (EPFL)!