Mihir Mulye:
- I learned basics of YouBot.
- I will learn more about MoveIt and about ROS
- I still have to go into more details of the implementation.
Heruka Andradi:
- I taught Mihir about the basics of YouBot. Learnt how to use move_base and direct base control on youbot simulation.
- Create a simple action server to give motion commands to the base.
- Action server might not be a good solution to the problem.
Carlo Wiesse:
- Teach Heruka and Mihir a little about MoveIt commander.
- I should learn about action libraries and servers. Also, investigate how to avoid singularities.
- Learn more about ROS combined with C++
Mihir Mulye:
- I installed youbot simulation software
- I will learn how to use the software in a more detailed manner
Heruka Andradi:
- Setup youbot simulation to control youbot base using move_base and direct_base_control
- Fix the youbot simulation for arm control and start writing a simple program to control the robot arm and base simultaneously. Try to understand the direct_base_control code
- Might have difficulties fixing the simulation
Carlo Wiesse:
- Got a better undestanding of the pipeline for the Manipulation and learned a little bit about yb_actions libraries.
- Extract useful information from the yb_actions libraries to share with my group
- Might be difficult to decide on a flexible but robust architecture for the whole body motion
Mihir Mulye:
- Worked on basic control flow of the task process
- Work with Heruka to modify the task process according to his code. Modify the test code according to the repository code
Heruka Andradi:
- Wrote a simple script to simultaneously control the base and arm (using moveit and move_base) by publishing the goal location and arm position names to a rostopic. Tried to debug moveit execution failures.
- Incorporate direct_base_control and moveit based arm control using joint angle commands to the current script.
- Might be difficult to handle simultaneous base motion commands to move_base and direct_base_control
Carlo Wiesse:
- Implementation of custom cartisian velocity controller package using C++
- Add preemted functionality to such package.
Mihir Mulye:
- Tried to refactor the main code according to the sample repository code
- Will try to refactor the main code as i had some issues with the last attempt. Construct the flowchart which Heruka created.
Heruka Andradi:
- Tested using move_base and direct_base_control to give simultaneous base motion commands to the robot.
- Decide how to handle simultaneous base motion commands and implement using a simple python script.
- Might not be possible to effectively hand simultaneous base motion commands without modifying the move_base and direct_base_control packages.
Carlo Wiesse:
- mcr_moveit_client package revision and transfer knowledge about it to teammates.
- Contribution to graphical representation of pipeline by listing topics and message types to communicate with arm.
Mihir Mulye:
- Carlo and I created message files and Interface files
Heruka Andradi:
- Made a ros package to provide move_base and direct_base_controller based motion commands to the youbot using a single rostopic. Identified how to obtain the node name of subscribers for monitoring and feedback.
- Incorporate moveit and monitoring to the ros package. Figure out how to cancel move_base_safe commands
- Might not be able to cancel move_base_safe commands without modifying the move_base_safe package
Carlo Wiesse:
Mihir Mulye:
- Carlo and i worked on the task of moving arm using custom file on the simulation.
- test the package 'youbot_motion_interface package' on the youbot write a script to publish commands to the youbot_motion_interface package by passing arguments to the python file.
Heruka Andradi:
- Incorporated preemption, request acknowledgement,and result feedback functionalities to the youbot_motion_interface package to give goal pose or goal name based commands to the youbot using move_base or direct_base_control packages.
- Integrate arm functionality to the youbot_motion_interface package
- Might come across unexpected issues during integration
Carlo Wiesse:
Mihir Mulye:
- tested the package 'youbot_motion_interface package' on the youbot
- write a script to publish commands to the youbot_motion_interface package by passing arguments to the python file.
Heruka Andradi:
- Refactored the code and seperated the functionality into different classes. Added a monitor feedback functionality.
- Integrate the arm_motion_interface package from Carlo to the youbot_motion_interace.
Carlo Wiesse:
Mihir Mulye:
Heruka Andradi:
- Refactortored the youbot_motion_interface pakcage to accomodate arm motion commands. Tested giving simultaneous base motion commands with moveit name based arm motion commands.
- Integrate the rest of the arm motion functionality and test on the youbot.
Carlo Wiesse: