Working in Marker-based visual localization and Testing

Index

• AMD Testing
• RA Testing
• Harmonic Testing
• Solving errors

AMD Testing

SO: Ubuntu 22.04.4 LTS, RAM: 16 GB, CPU: AMD Ryzen 5 7535HS (6 cores):

Task	Gazebo’s RTF	Gazebo’s FPS	% CPU Usage	% GPU Usage
CPU	0.90	17	550%	11%
GPU	1.00	72	102%	74%

New problems

• The gazebo camera pose needs to be updated.
• The topics are duplicated.
• The reset button is not working.
• The world’s landscape needs to be fixed

RA Testing

I test again RA in D2, at the beginning the follow line exercise did not work correctly on its frontend.

Harmonic Testing

Testing all the exercises, and looking for the problem why the topics are not working. The HAL library doesn’t seem to work, nor does posting by hand in topics.

Testing of the tf topics with their respective plugins:

• They are not updated after reset.
• Problem with plugin timer.

Solving errors

• The reset button is working.
• Improved fps of the universe.