HS Summer2018

Shortened URL of this page: goo.gl/GPG8X9

Schedule

Week 1: June 18-22 -- Introduction/background
Week 2: June 25-29 -- Building	Monday ROS joystick listener node called "bumbersnoot_boss" created Changed Jetson hostname to bumbersnoot Verified that new, long M2.5 screws fit into XL-320 servo horn Ordered micro-USB hub and correct power+data SATA cable for SSD (arrives Wednesday) Got Dynamixel XL-320 to move! Power switch was in wrong position? Should be to LEFT as you look at switch end of board. Got GUI and position control from here working; velocity control still no go Tuesday Figured out mapping of joystick buttons to their indices into buttons array Made some plans about modes and capabilities of training/testing program (written on whiteboard) Started integrating Dynamixel includes and package depends into listener program. Now callback is executed when dynamixel/XL message arrives. Assigned unique ID to each XL-320 using manager GUI: 10, 20, 30, 40. Now they all can be seen. multi_port was not the answer -- this is how you deal with multiple USB devices, not multiple servos on one USB controller Started integrating position controller example into bumbersnoot_boss Wednesday Basic velocity control of all servos in bumbersnoot_boss is working. 0-1023 maps to percent of max speed in CCW direction, 1024-2047 is same thing in CW direction. Make sure to set torque off before ending program. To do: Control each Dynamixel (position, velocity) with joystick in bumbersnoot_boss Logs with timestamps, directory creation Integrate RealSense capture code into bumbersnoot_boss Add SSD for mass storage Can micro-USB port be used for keyboard/mouse? Or powered USB hub to allow camera along with keyboard/mouse?
Week 3: July 2-6 -- Building	To do: Imitation learning test from tripod-mounted camera Rough chassis assembled Camera on robot Ad hoc wifi to connect to Jetson. From phone...but Android does not support? Wi Fi direct? [1]. Video streaming? Jetson powered by battery: [2], [3]. Should definitely try the ones left over from DRC
Week 4: July 9-13 -- Building
Week 5: July 16-20 -- Teaching/learning
Week 6: July 23-27-- Teaching/learning
Week 7: July 30-August 3 -- Write-up and presentation prep

Miscellaneous topics

• Deep neural networks
• Unity, ML-Agents
• Reinforcement learning, imitation learning
• Dynamixels
  • Dynamixel workbench
  • Servo spline sizes
• RealSense
• Jetson
  • Turtlebot3
  • Jetson hacks
  • Racecar
  • Birchfield drone trail following
  • DIY robot cars, MIT racecar
• OpenCV
• TensorFlow
• Obstacle avoidance, motion planning
• Trail following, Warthog
• C++ vs. C# vs. Java
• Linux

Parts

On hand

• Jetson TX2 dev kit
• RealSense D435 depth camera
• 4-port USB hub
• Robotis
  • 5 x XL-320 servo
  • Dream 2 kit (includes small rubber wheels)
  • 2 x Li-ion battery LB-041, 2 x charger LBB-041
  • 3 x Li-ion battery LB-040 (one more back-ordered), 2 x charger LBB-040
  • 2 x OpenCM9.04C controller board
• Monitor, HDMI cable

Needed

• Jetson
  • SSD drive connector, mini-USB hub (arriving 6/26)
  • Battery
  • Enclosure