For the past couple of weekends the team has been heading out to the Cal Poly pool to learn how to hook up the robot and control box, drive the robot, collect data, and pack up the equipment. In addition we have been playing around with the Harvey Mudd team's new Robot Operating System (ROS) based data collection tool.
Yesterday while everybody was there, we traded off writing in the logbooks, operating the SONAR computer, driving the robot, and managing the tether. We also deployed the new salinity, temperature, and conductivity sensor that we will be using to collect scientific data in the cisterns for Ian's project. It worked out well and we recovered data in a manageable format for further processing (.CSV). Here are some pictures from the training event, as well as the sonar mosaic of the pool that we deployed into. We have not yet created a grid map of the pool due to the difficulty of matching up scans containing mostly straight walls and scarce features.
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