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Robot Localisation #1033

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6 of 8 tasks
ysims opened this issue Mar 10, 2023 · 2 comments
Open
6 of 8 tasks

Robot Localisation #1033

ysims opened this issue Mar 10, 2023 · 2 comments
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G-Localisation-Odometry Localisation and Odometry Group

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@ysims
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ysims commented Mar 10, 2023 •
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Tasks for localisation

  • Base algorithm (occupany grid method) Field Line Localisation #1030
  • Update SensorFilter with a more reliable filter for pitch, roll and z height
  • Update field line detector module so it doesn't need to call the cluster method
  • Reset functionality, eg for penalty
  • Add goal measurements
  • Use odometry in time update (move walk command to SensorFilter?)
  • Put particle filter into a generic utility to use in RobotLocalisation
  • Fix NUsight localisation view
@ysims ysims added the G-Localisation-Odometry Localisation and Odometry Group label Mar 10, 2023
@ysims
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ysims commented Mar 11, 2023

@JosephusPaye the NUsight localisation view might be up your alley if you feel like working on it? The problem is that the localisation view takes odometry rather than localisation info.

@JosephusPaye
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Yeah I can have a look. I'll be on campus on Tuesday and will stop by the lab.

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@JosephusPaye @ysims