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ToDoList.md

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ABANDONED TODO List

I am no loner planning to do any of this! Sorry if you were waiting on me, but I have moved on to other things.

  • Make a new Youtube video of robot functions.

  • Add some response to failed arrival:

    • Text message.
    • Fun TTS and/or audio clip.
    • Track and if repeated, affect the random destination picker.

  • Speak when things are done like starting ROS, making maps, etc.

    • Asked to unplug
    • Uplugged

  • Fix this error coming from TEB due to something in my config: [ WARN] [1597326961.776132466]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.0513 seconds

  • Set every button push to have a function

  • Get all Sensors to work on Threeflower

  • Get Slam Toolbox to come up on Threeflower.

  • Test everything and dump stuff that doesn't work anymore.

    • See FullTestRoutine.MD

  • Walk through entire Readme and ensure all instructions are correct/relevant.

  • Create a system on the web interface to create automatic mapping of an existing area

    • Start map

    • Select goals in RVIZ

    • System should save them and put them up on the website

      • Subscribe to /move_base_simple/goal to see goals.

    • You can see them in order.

    • Then you can save the "list of goals"

    • Later you can select to make map, and it will start a map making session, unplug, go to those goals in order, then save the map, go "home", then load the map use it.

      • This way you can remap a known area automatically.

    • Early start might be to just set up to monitor goals and list them out on the site as they are set.

    NOTES: Options: /move_base/cancel /move_base/feedback /move_base/goal /move_base/parameter_descriptions /move_base/parameter_updates /move_base/result /move_base/status /move_base_simple/goal

    What they do: /move_base/goal - announces new goals when set /move_base_simple/goal - Same, just less data /move_base/current_goal - Seems to be the same, but THIS IS WHAT RVIZ IS SHOWING! /move_base/result - Will only tell you when it is done doing something.

    It seems like I want to watch: /move_base/current_goal - To see when a goal is set, and /move_base/result - To see when one is reached (or abandoned).

    I can infer that whatever came in via /move_base/current_goal last is what was reached or not.

    I could also subscribe to /move_base/status if I don't want to maintain state of any kind, but that seems unnecesary.

    See rosInterface.js for subscribing to topics and acting on those subscriptions by pumping data into webmodel/robotmodel and/or TTS, etc.

    TODO: Unsure how to "return to base". It isn't actually just all zereos is it? Maybe I need to "grab" the location upon initial startup (before we unplug).

  • Threeflower testing

  • robot.launch file:

    • Set up Scanse to be able to be Scan topic.
    • Set RPLidar section of up like XV11 to use /rplidar by default, but /scan if "selected" which is default if nothing is passed in.
    • Test to ensure that if NO ENVIRONMENT VARIABLES OR ROS PARAMS are set, that it uses RPLidar by default.

  • arlobot_goto.py

    • See TODO's in it: Need to either clean out old "active input" from previous mux package, or update twist_mux to give us the active topic and use it.