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gsoc_osrf_2019.md

Summary of work at GSoC - OSRF 2019

During my time at OSRF, I primarliy worked on the Virtual RobotX repository. Below is a chronological list of tasks I worked on during my time at OSRF:

  1. Updated the VRX world by adding groundstation models with tents, chairs and antennas (PR#96)
  2. One of my major project was improving the buoyancy plugin by allowing users to specify the object shape using cylinder, box and sphere primitives for each link (PR#122, PR#135). Documentation for the plugin can be found in the Wiki here
  3. Added waypoint marker visualizations to station keeping and waypoint following mission (PR#162)
  4. Created visualization using Gazebo markers for total forces acting on each link of a model (PR#163). TODO: add documentation
  5. Developed a test robot for automated scoring system. The system using robot_localization package for localization, a simple PID controller for low level control, move_base for motion planning and YOLO detector for vision.

Learning outcomes

  • Learned model development for Gazebo
  • Learned model and world plugin development for Gazebo
  • Learned to use Gazebo markers
  • Learned to use LIDAR with move_base
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