Status Update: 2022-11-09

[haixuanTao]

🤖

[haixuanTao]

dora-rover

Control the car is now ok. We have succeeded in overriding the control and are currently using simulated radio control (rc).

• Fixed latency issues with new Nvidia AGX Orin.
• Fixed issues with Px4 firmware and calibration that were not present in AGX Xavier. ( Thanks to Bob )
• Changed the planner from hybrid_astar to frenet. This makes the waypoints a lot more stable at the cost of a more complex planner. The stability is really useful as the localization is noisier in real life.
• Ported both yolov5 and yolop on the rover.
• Still need to do more field tests, but we can now run the rover with planned directions.
• Ported obstacle_location operator from dora-drives that combines LIDAR + Obstacles bounding box to find the exact position of the obstacles. Porting has been more difficult as there is significantly more noise in real-life LIDAR than in simulation LIDAR.
  -> Obstacle avoidance trajectory is next step.

[phil-opp]

dora-core

We merged the following changes to dora in the past two weeks:

CLI

• Implement dora up command to start coordinator and iceoryx RouDi #117
• CLI check wether dora-runtime and iceoryx daemons are running #114
• Implement dataflow templates in dora new #116
• Implement Python template #123
• Fix and update Rust template to be ready after dora new #127
• Python dataflow template #128

APIs

• Create C++ node API library #120
• We also have an open PR for C++ operators: Implement a C++ operator API #121
  • There are a some link errors in the Windows example, which we decided to ignore for now, as Windows isn't our focus at the moment.

Dataflow YAML

• Enable passing Environment variables to Runtime and single operators node #124
• Make command line argument program usable as custom node source. #129

Fixes

• Create dataflow html file in current directory #115
  • Fixes the graph on macOS, where opening HTML files from the temp directory is apparently not permitted.