Based on feedback from the last few sessions we are moving away from the presentation based format to a more interactive format. This time our focus will be on our processes and some of the on going work of our members. The agenda is as follows:
Tuesday Jun 7, 2022 8am PT
Hi, I would like to shortly show our work on realizing ROV control with ros2_control framwork. (Hope to give detailed talk on this on ROSCon). Most of the work will be mainlained into ros2_control and ros2_controllers repositories.
This sounds awesome. Is this using a real vehicle or a simulator (or both)? Which simulator are you using? @Matosinho keeps talking about thruster allocation. You can add your info to the agenda to document I linked as a comment.
We are using real hardware and hardware-specific simulator (and Mock System - Simulation in ros2_control).
@arjo129 I have send you a private message about integrating Ignition‘s plugin with ros2_control plugin for simple simulation. The goal would be tohave simulation with the same control stack as for the real hardware (the same approach we have for manipulators.
I have a question which I’ll ask in the meeting but before then I thought I’ll also bring it up here!
I’m looking into possible options for a state estimation pipeline that can consume measurements from an underwater ROV, sensors like IMU,DVL, pressure altimeter and generate a continious high frequency state estimate. And hopefully has an ROV process model or has an interface to accept one.
I have looked into robot_localization but that seems to be tailored toward ground vehicles mostly.
Does anyone knows any other ros packages that might be a better fit and hopefully is actively maintained?
@natrad100 Can I suggest posting the minutes as a post here in markdown instead of linking to the PDF on google drive. A PDF on google drive will not appear in a search (even Google’s) and Drive links are prone to becoming invalid over time, when people have to clean out their storage, change email accounts etc.
Meeting Opened: 0805 PST (GMT-08:00), 7th June 2022
Minutes Taken By: Nathan Edwards
+1 617 *** **44, Arjo Chakravarty, B Abraham, Denis Stogl, Gustavo Silva, Isaac Vandor, Laura Lindzey, Louise Poubel, Mabel Zhang, Olivier Kermorgant, Roland Arsenault, Shunong Wu, Sina Aghli, Wai Yen Chan, Yuri de Matos, Nathan Edwards
Previous Action Points
Nill / Discussed in GB
AC: Charter to finalised by the end of the week, can all please provide any additional changes / feedback on the PR - #1
No additional feature to be added
LL: AUV Standard Interfaces
LL: standard interfaces started with acoustics
If there other messages we would like to include, we need to make a issue / PR apl-ocean-engineering/hydrographic_msgs
ROS1 → ROS2 migration for tooling, recommended to be a separate repo
AC: Packaging up tooling
RA: RVIZ Plugin is still in alpha
MZ: repository needs to be somewhere that is maintained
AC: Need to come up with some maintainer
AC: Focus on setting up the infrastructure
Awesome-maritime-robotics to become a repository container useful repositories that we are working on
LP: to present added mass SDFormat next meeting. This allows native use within ignition. This removes the need for the requirement for a plugin. PR - gazebosim/gz-sim#1462
Here’s the PR for the added mass proposal, don’t mind the broken Latex on the preview. Early feedback is highly appreciated, thanks! gazebosim/sdf_tutorials#76
MZ propose an in-person format for networking with a virtual backup.
ALL in favour for MZ to start thinking about ROSCON