04/12/2025 Oogway: After several weeks of frustrating issues with state, Denton finally fixed the issue by resetting the pose0_differential and odom0_differential fields in Oogway’s oogway.yaml config file in sensor_fusion to true, which reverts them to their original settings. Combined with the earlier fix to the DVL coordinate frame, these changes restored proper state behavior. To …
Today, we tested the fiber optic gyroscope for the second time in the pool. Gyro Testing Sonar Testing We tested sonar and were able to get scans of the back pool wall. To start using the sonar in task-planning (e.g., in the octagon task), a sonar task-planning interface must be made. Additionally, it would be …
The CS subteam has kicked off the spring semester with incredible momentum, and we’re excited to share some of the major milestones we’ve achieved. Over winter break, several team members migrated our Foxglove and Controls packages from ROS 1 to ROS 2. With these migrations complete, we have officially translated all of our key packages …
We remapped the joystick inputs and it now works as expected. We tested all 6 axes, including roll and pitch. Like Will, we noticed Foxglove becoming unresponsive if multiple windows are open. We noticed that the Foxglove bridge node was reporting that the send buffer limit has been reached which is the most likely cause …
We added Duke Robotics Club labels to the chairs, table, and monitor. We swapped out the HDMI cable for our pool monitor since we were having problems with the old one. We recorded a 10 minute (~10,000 frames) underwater video of the pool from the front DAI camera. This will be used as null images …
Before the test: One side of the 3D print for the downward DAI was broken/dangling so we secured it with tape. Vincent is going to reprint it. We also secured the loose 1D sonar with zip ties. Philip said that there should be a mount for it. 8:30 – 10:30: We first tested the seal …
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