Google Summer Of Code 2023 Work Summary

work_summary.md

GSoC 2023 Contributions

• Organization: Open Source Robotics Foundation (OSRF)
• Name: Tejal Barnwal
• Mentors: Carlos Agüero, Michael

Description

Imporvements in Maritime Simulation Virtual RobotX:

I took on a series of tasks that involved getting familiar with two software tools: ROS2 and Gazebo Garden. After gaining an understanding of these tools and the VRX repository, I moved on to the next phase where I made some minor improvements to the system. Firstly, I restructured some parts of the code. Secondly, I fine-tuned various settings and parameters within the system to ensure good performance. Lastly, I am integrating a new wave visual model into the system. This entire process was about learning, refining, and adding new elements to make the system better. Additionally, this experience provided me with a fantastic opportunity to not only learn how to review code but also to serve as a code tester for an Open Source project. Before this project, I had only been involved in submitting pull requests, so being able to switch roles was a truly valuable experience.

Contributions:

Pull Requests:

1. Updated code to use angle as input for wavefield parameter direction
2. Reduce oscillations of buoys in perception task
3. Default value initialization to avoid redundant variable assignment
4. update order of wavefield parameters message
5. 2023 competition worlds for acoustic tracking

Issues Resolved:

1. Record Video Button Causes Hanging

Code Reviews:

1. Adjust practice worlds to make use of new wavefield model envelope
2. add debug option to wind publishers

New Additions:

1. Exploring alternate wave models Progress related to the same has been documented here.

As the document highlights, I finally got the ocean_waves model working. The model is not as computationally expensive as the previous standard waves_model and hence could be of use to use. I am now working to improve its RTF, which is now at 0.1.

Acknowledgments

I thank my mentors Carlos and MIchael, for their constant support and guidance. I have learned new skills(especially ROS2, trying out the new Gazebo and working with Git) during the GSoC program under their guidance. It was great to be included in the weekly team meeting and observe how the collaborates on the project ang what goes into organizing a robotics student competition. I am enthusiastic about continuing my voluntary contributions beyond the official GSoC period to pursue and complete my goals.

I want to thank Open Robotics for being a fantastic GSoC host organization. With this program's conclusion, I am confident that I have learned many necessary skills and will continue to contribute to open source repositories and try my best to give back to the robotics community.