> For the complete documentation index, see [llms.txt](https://campus-rover.gitbook.io/lab-notebook/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://campus-rover.gitbook.io/lab-notebook/fiiva/cr-package/campus-rover-4/progress-report.md). # progress-report.md Due to novel Coronavirus COVID-19, the efforts of the CR4 team in spring 2020 was cut short. In about two months, we were able to complete quite a bit but unable to get the new rover to a stable and usable state for future students. This document lists what was finished, and elaborates on what remains to be done. ## What Was Done 1. The biggest endeavor of this project was to use the `Diff_Drive_Controller` to produce stable and reliable motor movement (in tandem with a PID loop on the Tivac board) and odometry. 2. the embedded ROS node on Tivac publishes IMU and Sonar topics, but their data is unreliable. 3. a basic urdf was constructed 4. basic launch files created for robot bringup 5. depth camera and lidar fusion as a point cloud ## WHat needs to be completed * PID gains need to be more finely tuned. Refer to motor.h for the defines of the gains * IMU should be calibrated more finely. Perhaps DMP should be used? * `Diff_Drive` published NAN in odoms by default. perhaps some of the arrays in hw\_interface.cpp need to be initialized with 0's? * attach a more reliable lidar and prove that SLAM works with diff\_drive * finish tuning navigation params * create a more deatiled robot model and urdf (perhaps usinf xacro) in a CAD or other modeling softawre (blender?) * build a sinple system that can detect when the battery is at low levels and indicate to the user in some way (a beeping noise, a topic, a light, turning off the motors, etc) We hope that this is a substantial base with a clear direction to move forward with, once the time is right. When resuming work, please go to the `hardware_interface` branch of `rover_4_core`, which is the latest branch. --- # Agent Instructions This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. Learn more at gitbook.com. ## Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation by asking a question. Perform an HTTP GET request on the following URL with the `ask` and `goal` query parameters: ``` GET https://campus-rover.gitbook.io/lab-notebook/fiiva/cr-package/campus-rover-4/progress-report.md?ask=&goal= ``` `ask` is the immediate question: it should be specific, self-contained, and written in natural language. `goal` is what the user is ultimately trying to achieve, the reason they need the answer. Sharing it helps GitBook give you a better, more relevant answer. A goal is most helpful when it describes the outcome the user wants rather than restating the question. For example, with `ask=how do I create an API token`, a goal like `automate deployments from our CI pipeline` lets GitBook tailor the answer to that use case. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.