Week 10
Issues Created
- #91: Update git submodule aws-robomaker-small-warehouse-world to latest commit ID
- #93: Action server failed while executing action callback: “Empty Tree”
Issues Solved
- #94: Fixed Behavior Tree in Amazon warehouse package; solves #93, #12, and #13
- #92: Updated git submodule aws-robomaker-small-warehouse-world; solves #91 and #10
- #1: Modified the
no_roof_small_warehouse.world; solves #10
Progress on the Issues
Fixing #93, #12, and #13
- Detailed bug report and error logs contained in issue page #93
- Last week’s deliberation on Solving the robot_controller error
The following edits were made in PR #94:
- Modified follow_waypoints_and_load.xml BT navigator in
amazon_robot_controller. - Added corresponding plugin libraries to nav2_params_with_control.yaml in
amazon_robot_bringup
Demonstration
Demo of Waypoint mode Navigation in Amazon Warehouse Single Robot Exercise (with AMCL Localization)
Completed!
Ironed out the bugs mentioned in Week 7-8’s demonstration
Incorporating SLAM
- Last week’s progress on Incorporating SLAM can be seen in the Week 9 blog — SLAM
- Achieved lifelong mapping with turtlebot3!
- Saved the SLAM posegraph using SLAM Toolbox RViz plugin
- Closed and started another turtlebot3 world simulation
- Input the posegraph file again into SLAM Toolbox RViz plugin
- The robot perfectly identified its location in the older graph and resumed updating the graph
- Dissected the SLAM Toolbox’ working inside the Exploring SLAM Toolbox blog
Demo of Lifelong Mapping in SLAM Toolbox with Turtlebot3