Week 3
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GSOC Coding Week 3 Progress Report
Week 3: Fixing the Simulation and Improving Path Stability
This week was all about stabilizing the simulation environment and improving motion planning performance. After confirming that the new pick-and-place algorithm worked last week, I shifted focus to the persistent Gazebo issues and unstable trajectories that were affecting the robot’s performance.
What I Did This Week
- 🛠️ Fixed the Gazebo world: resolved missing models and ensured all visual and collision objects load correctly
- 🤖 Improved path planning: adjusted the configuration to make the robot’s motion more reliable and reduce failed attempts
- 🧪 Tested and recorded an updated demo: the robot now performs multiple successful pick-and-place actions with better motion fluency
Updated demo with stable path planning
Known Issues
While the robot now performs much better, some technical hurdles remain:
- The motion planner still occasionally retries trajectories, especially for “place” actions with tight approach angles
- Some visual jitter in the Gazebo camera feed could affect future perception modules
Next Steps
For Week 4, I’ll focus on:
- Beginning the ROS2 migration: initializing the ROS2 workspace and porting core nodes
- Rebuilding the perception pipeline with ROS2 compatibility
- Exploring MoveIt2 integration to replace legacy trajectory execution
📍 Posted from Barcelona, Spain
🧠 Project: Migration and Enhancement of Machine Vision Exercise to ROS2 + MoveIt2
