June 1, 2021
If I missed something, click the "Edit" button and add it in! -Will
- Lanelet map of campus test area split into two files (full and simplified).
- .osm (OpenStreetMap) file being edited to work with Autoware (add speed limits, "participant:vehicle" tags)
Above: What Grace and Kyle have so far. Looking good!
- Was able to fuse Lidar data on actual car from rear and front sensors
- Downsampling of Lidar data might hurt accuracy of some algorithms, e.g. object detection
- Physical properties of vehicle (like location of Lidar sensors) need to be measured and parameters tweaked so that some algorithms, like Lidar fusion, produce accurate results.
- The MPC controller sends vehicle commands, but the steering field of each command is 0. Why?
- There are parameters for min and max steering angles that we should set.
- How should steering angles be represented? Josh wants steering angles as 8 bit values.
- Inspecting vehicle tomorrow (June 2) to get idea for how a steering angle sensor mount can be modeled.
- Will model sensor mount, see Issue #15
- Might possibly work on URDF (physical properties of vehicle)
- Finalizing steering interface and CAN code-- just merged CAN code into snazzy new repo
- Needs steering angle from a steering angle sensor in order to send accurate steering commands
- Might be able to help with creating 3D campus map
- Finally got remote simulation working (thanks, Cristian)
- Continuing with Demo 0, switching map from parking lot to Borregas Ave
- That involves creating, rotating, and aligning a pointcloud map with an existing lanelet2 map... Right now the two maps are misaligned, and so localization is broken
Above: Pointcloud map of Borregas Ave (from simulator), below: detail-- notice the regular grid created by the downsampler node
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DFW AI Self-Driving Small Vehicle Showcase
- On July 17 from 6-9pm.
- Chance for us to show off our (not small) vehicle!