Model submission for Allie ground robot sensor configuration 1 and 2 from Coordinated Robotics

[knoedler]

This is a four wheel skid steer robot based on our "Allie" robot.

[nkoenig]

Bounding box [0.917662 0.625796 0.670875]

[knoedler]

@nkoenig Thank you for reviewing. I corrected 2.2 of the three issues, but could use some suggestions for the third issue.

[acschang]

The initial assessment of the Coordinated Robotics Allie robot model is complete however there are some issues to resolve before this model can be merged and utilized in a competitive setting:

• Please resolve all noted issues in the vehicle_topics.launch file.
• Please add an air_pressure sesnsor to the model.sdf file to match the sensor list in specifications.md.
• Please update sensor parameters as requested by the comments in the model.sdf file.
• Please update the VLP-16's sensing range to match the value in the specification sheet.
• Please provide validation data as it is necessary to complete the evaluation. If not provided, the model's maximum velocity will be limited to 1m/s and battery life set to 60min. When the model validation data can be provided later, please submit a PR updating the model.

Please address the issues noted above in this pull request. Once the above issues are fixed, your submission will move on to the next review stage!

[knoedler]

@acschang
Sorry for the broken optical frame publishers. I tried to get those added based on the other review, but didn't test. That and the other issues have been addressed.

What are you looking for beyond what was provided / linked in the specifications.md? Calculations, datalogs, videos, spreadsheets, etc. are provided for the values.

[acschang]

@acschang
Sorry for the broken optical frame publishers. I tried to get those added based on the other review, but didn't test. That and the other issues have been addressed.

What are you looking for beyond what was provided / linked in the specifications.md? Calculations, datalogs, videos, spreadsheets, etc. are provided for the values.

Please refer to the Model Preparation Guide. We appear to be missing motion and endurance validation data for this model at the moment. If you've uploaded this data and the issue is locating it on my end, please let me know.

Edit: It looks like the validation data is present in the specifications.md file. I'll review this now.

[acschang]

@knoedler I've looked over the validation data but I can't find where battery voltage is recorded for your endurance test. Can you please direct me to where the battery voltage is recorded?

The velocity/acceleration data for motion looks good!

[knoedler]

@knoedler I've looked over the validation data but I can't find where battery voltage is recorded for your endurance test. Can you please direct me to where the battery voltage is recorded?

Thank you for taking a look.
The automated logging to the rosbag didn't work, so I used the voltages recorded on the voltmeter plugged into the battery. I was hoping it would show up better on the video, but you can see the red glow of the digits but can't read the digits from the video. So, in this case I wrote the starting and ending voltages down and included them in the specifications.md. They were not automatically recorded on the rosbag or visible in the video.

[acschang]

The automated logging to the rosbag didn't work, so I used the voltages recorded on the voltmeter plugged into the battery. I was hoping it would show up better on the video, but you can see the red glow of the digits but can't read the digits from the video. So, in this case I wrote the starting and ending voltages down and included them in the specifications.md. They were not automatically recorded on the rosbag or visible in the video.

I can see where you have the voltmeter plugged in although I'm unable to discern the voltage clearly from the video. Unfortunately this endurance test does not meet the requirements laid out in the Simulation Model Preparation Guide so we cannot accept the model with the current battery configuration. You may re-do the endurance experiment and display the voltmeter before and after the 20 minute endurance experiment or we will limit the vehicle's endurance to 60 minutes of operation. The data provided for motion is sufficient so regardless of your choice, the motion characteristics will remain as-is.

[knoedler]

I re-ran the endurance test. The specifications.md has been updated with a link to the new video and the calculations have been updated. Humorously, the video of the voltmeter takes some contortions to read as only a few segments are flashed on at once and it cycles through various displays. Luckily, the logging to the rosbag worked so the voltmeter portion of the video can be ignored. The new rosbag and and voltage.csv are in the same google drive location.

[acschang]

Continued in #863