RoboGames and Progress Update: May 5, 2013

PR2Lite and Maxwell didn’t get to play chess at Robogames, but we’re still planning to have PR2Lite take on Maxwell at Maker Faire on the weekend of May 18. Unfortunately, despite a steady stream of progress, PR2Lite still isn’t picking up and moving pieces autonomously yet. Some of the progress made includes:

  • The ROS arm navigation GUI works with PR2Lite again. This required many tiny fixes that had accumulated since the beginning of the year when the GUI stopped working – apparently due to a package name change that resulted in unexpected dynamic linking of the wrong plug-in.
  • Adapting the turtleblot “block manipulation” GUI for PR2Lite chess playing
  • Integrating in the “pr2_arms.py” utility routines from the assistive teleop project.
  • Adjusting the URDF to be more accurate.
  • Fixing minor bugs in various controllers.
  • Fixed a broken connector
  • Due to work obligations, Frank’s work on the revised PR2lite SLAM navigation is on hold until after Maker Faire. Currently, working on some odometry problems.

Due to RoboFest, RoboGames, and a heavy end-of-school-year load, Matthew’s revised gripper controller probably won’t be ready to show off the velo gripper and heavy-duty arm actuators at Maker Faire. AutoCAD design continues.