22/02/18 RobotLibrary Development Meeting

[ssutjipto]

Chair:

• Sheila @ssutjipto

Attendees:

• Jon @Woolfrey
• Sheila @ssutjipto

Agenda:

Item	Tag	Responsible	Comment
Follow up on calcs with new RigidyBody, Joint classes.	#2	@ssutjipto	Resolved with #24
Add debugging support.	N/A	@ssutjipto	Still in development
Add Null Space projection to control class(es)	N/A	@Woolfrey	Completed, singularity avoidance is used as default if arm is redundant
Create new repository for Gazebo / ROS simulation	N/A	@Woolfrey	Completed, but needs further development
Formalize meeting minutes somehow in gitub.	N/A	@Woolfrey	Template made and meeting discussion board created
Merge main < devel < new	#2	@ssutjipto, @Woolfrey	Resolved with #24

Additional Discussion Points:

Topic	Raised By	Tag	Outcome
Debugging for RobotLibrary	@ssutjipto	N/A	A feature branch will be made where this will be developed.
Incorporating threading for control	@ssutjipto	N/A	For now we will rely on ROS nodes to synchronize data and control topics.
Development of a ROS wrapper for the RobotLibrary	@ssutjipto	N/A	Each robot has its own custom msg topics in ROS, so for now we will just use a custom node for each type of robot (UR3, Sawyer, Kuka, etc.)

Next Meeting:

Item	Tag	Responsible
Follow up on nullspace projection, check J*N == 0	N/A	@Woolfrey
Look into creating a new project board that spans the RobotLibrary and ROS package	N/A	@Woolfrey
Create new feature branch for debugging.	N/A	@ssutjipto
Add support and instructions for debugging	N/A	@ssutjipto
Joint limit avoidance in Control class	N/A	@Woolfrey
Demoting outstanding Issues to Notes in the project page	N/A	@Woolfrey

Conclusions:

• Create new project tab for managing ROS package development
• How to design structure of ROS interface when interacting with the RobotLibrary
• Rely on ROS publishers and subscribers instead of threading

[Woolfrey]

I put the "Additional Discussion Points" in to a table so it's a little bit more organised.

[Woolfrey]

Added an extra item for the next meeting on sorting out Issues, which I forgot to raise in the last meeting...