Milestone specifications

Deadlines

Milestones

Milestones have been defined to help you meet the requirements of the project on time (we call them milestones because we see them as your milestones rather than our tollgates). You do not have to meet the milestones before the deadlines but years of experience shows that it helps the groups a lot and you will be rewarded for it.

The tasks corresponding to the milestones may seem simple but, do not underestimate them and use your time wisely. Do not leave the things for the final week, this is a real world situation where your intelligence is not the only thing that matters but your ability to organize your work and to account for the unpredictable.

You need to show your TA that you robot meet the requirements of the milestone and be ready to explain how it works. Note that the TAs are not sitting and waiting doing nothing. You need to schedule time with them.

Everything you show for a milestone should be running on the robot with no cables attached.

Milestone 1 (MS1) 

Meeting this milestone means that:

• Your robot should be able to drive in the maze. Keyboard control is OK. This means that you can control the motors and the motion of the robot.
• Your robot should have a dead reckoning system (odometry) on the robot, using at least wheel encoders.
• You should be able to display the position of the robot in rviz as it moves through the environment.
• You should be able to display the current scan from the laser in rviz.
• You should be able to display every Nth scan in rviz. This would generate a map of the environment where you can very clearly study the performance of your dead reckoning system.

Milestone 2 (MS2) 

Meeting this milestone means that:

•  Your robot can detect on objects using the RGBD camera and pick it up with the arm.
• You should be able to show that you handle the transformations between robot, arm, camera and world frame.
• You should display the detected object in rviz so that one can see its position with respect to the robot.

Milestone 3 (MS3)

Meeting this milestone means that:

Milestone 4 (MS4)

Meeting this milestone means that: