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Week 9 & 10 - Wrapping Up and Final Touches on My GSoC Journey (August 4 ~ 17)

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By Ashish Ramesh
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Week 9 & 10 - Wrapping Up and Final Touches on My GSoC Journey (August 4 ~ 17)

Hey everyone!
This is the last blog regarding my updates for my GSoC project, where I wrapped up the ROS 2-native implementation work and prepared everything for production deployment.

Objectives for the Week

  • Fixed Web GUI import for exercises
  • Updated Solution for for both exercises
  • Updated documentation
  • Branch Sync and PRs for production branch
  • Demo Video
  • Final Report

What I Worked On

This week, I focused on finalizing the ROS 2-native implementation of the Vacuum Cleaner exercise and the Follow Line exercise. The main tasks included updating the import of WebGUI for both exercises to ensure a consistent user experience. I also updated and finalized the documentation and created PRs to merge to production.

I started by fixing the WebGUI imports for both exercises. Previously, for the WebGUI to work it had to be imported and then initialized in the user code as

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import GUI
self.gui = GUI.get_gui()

This seemed unintuitive, so I updated the WebGUI module to handle its own initialization. Now, users can simply import the WebGUI and use it without needing to create an instance manually.

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from WebGUI import gui

Importing the WebGUI module now automatically initializes the GUI, making it easier for users to get started with the exercises. I also updated the documentation to reflect these changes and provide clear examples for users. The solutions for both exercises have been updated accordingly.

Once this was done I started working on syncing all branches to ensure that the latest changes were reflected across the board. This involved pulling the latest changes from the main branch and resolving any conflicts that arose. I also took the opportunity to clean up the codebase, removing any unused imports and optimizing the overall structure of the code. I also created pull requests for the ros-native branch to be merged to production.

I’m happy to report that all the code developed during this phase has been successfully integrated and has been pushed to production!

I then started working on a demo video to showcase my work on the ROS 2-native implementation of the Vacuum Cleaner exercise and the Follow Line exercise. The video provides an overview of the key features and improvements made during GSoC. You can find it here:

ROS Native implementation Demo Video

I also completed the final report documenting the entire process and outcomes of the project.

PRs & Issues Raised

Here are the contributions made this week:

Issues

Pull Requests

This will be my final post here (apart from the Final Report). Thank you for following my journey throughout this project! I’m grateful for the support and guidance I’ve received along the way. Looking forward to applying what I’ve learned in future endeavors.

With gratitude, signing off —

Ashish

Coding Period, Phase Two
robotics-academy ros2 vaccum-cleaner coding-period phase-two
This post is licensed under CC BY 4.0 by the author.