07 Dec

Make RoCo WMR work with .wbo outputs and outline for new modules

Anwesha Chattoraj roco

Tasks to finish before 16/12/2021 These tasks mostly to get to speed on the roco pipeline and begin work on adding new modules

  • Build and fix existing cars to produce .wbo output in the Device branch. Making the API compatible to work with it.
  • Build some new WMR models
  • Figure out why one pytest is failing and fix it (or get it fixed)
  • Make the paperbot controller work with the unicycle model (working on this currently)
  • Make the 4 wheeled-car controller work in webots with a model-based controller
  • Sketch an outline for a composable that can generate appropriate kinematic model for a given WMR output
  • Based on the above, sketch an outline for a controller than can work with the generated kinematic model output and output some controller code for say webots.

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