This it the main repository for team beta of the CWRU Mobile Robotics course, EECS 376, Spring 2015.
All packages developed by team beta can be found in \catkin\src\cwru_376_student. The rest of the files found within this repository are being synced from the class files provided by the instructor and TA.
The following changelog is meant to serve as a general change index, for details on a specific file please refer to the readme found at the package level.
02/01/15 - Synced all files from class repository to create our baseline repository.
02/05/15 - Added "lidar" to packages directory. /lidar/src/ contains "lidar_alarm.cpp" and "lidar_interpreter.cpp" which were used in the reactive velocity assignment.
02/10/15 - Add "path_planner" packages to directory. /path_planner/ contains an srv folder with a matching .srv file responsible for storing the path segments while the src folder contains the actually .cpp file for the node.
02/19/15 - Added ROS params to lidar and vel_scheduler nodes. Fixed velocity ramping so that it works in the real world. This included refactoring vel_scheduler to have several functions for calculating the desired velocity, and introducing slowdown pattern for when the lidar detects objects within several meters.
03/09/15 - Redesigned "path_planner" to function as the desired state generator, which is responsible for feeding path segment information to the "vel_scheduler". Further improved "vel_scheduler" velocity and acceleration control to function dynamically based on both robot parameters entered in the "vel_scheduler" launch file and real world object detection.
03/19/15 - Redesigned "vel_scheduler" to use class based architecture, this has improved usability, debugging efficiency, and will make further integrations more streamlined. AMCL is also in the process of being added to the team's functionality.
03/31/15 - AMCL has been fully integrated with "path_planner".