[Dprglist] Saturday

[Carl Ott]

Awesome - it was great to catch up in person - despite the A/C and
lingering mask issues...

I'll work with Doug on the spinning robot demo results.  Maybe we can touch
on those in tonight's RBNV.

Yeah - floor flatness - Michael's robot adds a new level of insight :-)
That laser pointer is brilliant!

Sounds like the slightly larger path caused us both problems.  Perhaps the
larger perimeter puts you closer to obstacles around the room.  For
HoverSim, I had been tuning with smaller perimeters, which had more margin
to people and chairs.  I believe that getting closer to those or the metal
walls threw off the magnetometer in BNO055 9DOF fusion mode.  And then when
I changed to IMUPLUS mode (ie. 6DOF with accelerometer and gyro / no
magnetometer), I believe I found an exciting new artifact for spin mode...
I believe the constant spinning must throw off BNO055 fusion modes -
without the magnetometer world-reference it seemed to get confused at the
furthest cone where it 'doubles back'.  So I think my spin mode errors on
Saturday were actually related to IMU fusion mode artifacts more than floor
flatness. More on that theory and what to do about it in tonight's RBNV...

- Carl


On Mon, Jun 20, 2022 at 1:50 PM David P. Anderson via DPRGlist <
dprglist at lists.dprg.org> wrote:

> I'll second Harold's comment: Saturday was a lot of fun.  Great to see
> everyone.
>
> Carl can you post the results for the spinning robot demo?  I think rcat
> did pretty well on the second run and also the triangle.
>
> I was having some trouble with my rate gyro, which is pretty temperature
> sensitive, in that hot room.  Later I realized I had not disabled the
> virtual bumper and that was causing some problems.  Trouble shooting at
> a contest is always fraught.
>
> Also lots of comments about the non-flatness of the floor.  At first I
> blew it off, thinking maybe it just wasn't level.  But then Michael's
> robot had a laser pointing forward/down at the floor and the spot kept
> getting closer to and further from the front of the robot as it moved.
> When I queried why it was doing that, someone pointed out that it was
> the floor!   It really is massively uneven and lumpy.
>
> Maybe we need to find a different room to run our contests?   We could
> use Michael's robot for testing...
>
> cheers!
>
> dpa
>
>
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