Last pool test update of the semester! It is hard to believe that it has already been 3 months since our first set of pool tests. Let’s see what happened this past weekend.
04/18/2026
It’s filming day! On Saturday, we focused on filming for our team video. We captured footage of various parts of the pool testing procedure, from the setup to the actual testing itself.
We collected a lot of footage at the pool of both robots, and had some fun along the way. Well, except for one person who needed sonar testing time.
Luckily, Oogway had some downtime during the pool test, and our dedicated CS member, Anthony, was able to test his sonar code. He had put some finishing touches on the pull request during the previous week and confirmed there were no issues with the sonar code.
During this pool test, we also discovered some technical bugs that spilled over into the next pool test. First, Crush’s git repo had corrupted due to the docker container build being interrupted. We also discovered that Crush’s Wi-Fi card was being exceptionally slow. In addition, both robots were having some problems with their ekf node, which is supposed to take in various sensor readings and give an estimation of the robot’s position in the water. However, as we were focused on filming, we decided to continue and leave these issues for another day.
04/19/2026
On Sunday, we focused on finishing up some of the remaining items for CS. However, the technical issues from the previous day of testing had not completely resolved. We also needed to collect some remaining footage for the team video.
Both robots exhibited the same ekf node issue from yesterday, and both robots had slow downloading docker containers. This greatly impacted our testing time. While trying to gather acoustics data, we also discovered that our acoustics logic analyzer software was for some reason no longer present on the robot. Not being able to quickly source this and collect the data, we pivoted to testing movement and collecting some underwater footage of the robot for the team video. Being the last pool test of the semester, we also had to clean all of our props and materials from the pool.
Post-Pool Test Thoughts
Unfortunately, we did not close up a lot of loose ends for the CS side of things. However, we did get sonar finalized at this pool test, which we are excited for. In addition, everyone had fun filming and reflecting on a semester of work.
As this semester of pool testing comes to an end, I am happy with all of the progress we have made. While we had our ups and downs, we made a lot of progress with our code and taught members how to run pool tests. Look out for us this year at RoboSub! Thank you for reading, and with that, signing off the final pool test blog.