Commit 63135610 authored by Gill Lumer-Klabbers's avatar Gill Lumer-Klabbers Committed by node
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Update on Overleaf.

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1. Marvelmind.
- We found, that the dashboard application is not based on the API, as described in prior releases, but the API is extracted from the dashboard app.
- The new API release from 29th September includes these last calls that we need but requires a firmware update to v7.1. This minor requires a license for each beacon device on 9 eur, in total 334 DKK for all beacons.
2. Docker??
3. SLAM based localisation is being worked on, while the first milestone is to finish development of getting the rear wheels micro ros solution to provide a nav_msgs/Odometry data.
2. Demo
3. Holiday registration
2. Docker
- Dockerfiles/compose for ROS-nodes running on pc working
- More advanced compose setup underway
3. RabbitMQ FMU and RabbitMq ROS-node
- RabbitMq ros node updated to be compatible with RabbitMq FMU v2.1.2
- Transmission from ROS to Cosim seems to works as it should
- (`seqno` requirement should be more clear/visible in readme)
- Mapping between FMU i/o and ROS messages
- ROS-node currently uses topic name and field name, maps it to `.`-separated string for FMU i/o
- `steering_angle` field message published topic `/move_cmd` maps to fmu output with name `move_cmd.steering_angle`
- Nested fields also seperated by dot: ie,
- Preparing for Cosim `->` ROS messageing
- Message structure, mapping to topics/fields
- Simple representative example for testing?
1. Future Work
1. Wheel Odometry
- Implemented, but not integrated yet
1. SLAM based localisation:
- Supplement to MarvelMind (Localization is possible without SLAM, rationale for including this is to interface with established ros2 localisation/navigation stack)
- while the first milestone is to finish development of getting the rear wheels micro ros solution to provide a `nav_msgs/Odometry` data.
1. Demos
- Em-Stop
- RabbitMq
1. Holiday registration
## Notes
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