Model submission for marble_husky sensor configuration 6 by MARBLE#850
Model submission for marble_husky sensor configuration 6 by MARBLE#850bfotheri wants to merge 10 commits intoosrf:masterfrom bfotheri:submitted_models/marble_husky_sensor_config_6
Conversation
|
Can you upload the validation data to the DARPA Box link that has since been provided in the Model Preparation Guide? |
|
Validation data has been successfully uploaded to the link provided in the Model Preparation Guide. File is named "MARBLE_HUSKY.zip" |
|
Also, MARBLE is currently using this vehicle as a marsupial pair in preparation for the final circuit systems event. I have local changes to competition.ign that allow this locally, but was unsure of the procedure for merging those in. Should I add those marsupial changes and commit them for review or should some verification/discussion happen prior? |
There was a problem hiding this comment.
The initial assessment of this sensor configuration submission is complete, however there are some issues to resolve before this sensor configuration can be merged and utilized in a competitive setting:
- Please update the Ouster LIDAR and Pico Flexx sensor parameters per the in-line comments.
- Please verify the mass listed in the
specifications.mdfile matches the total mass in themodel.sdf. - Please add the
wheel_slipplugin section to thespawner.rbfile. - Please clarify if the sensor suite cost for sensor config 6 matches the value in the
specifications.mdfile. - Please update the sensor specifications link for the FLIR camera in the
specifications.mdfile. - Please add all missing components to the RViz visualization.
- Please update
vehicle_topics.launchfile in sensor config 3 to include transports for the thermal camera and thebreadcrumbs_remainingtransport for compatibility with sensor config 4.
Please address the issues noted above and add commits to this pull request as soon as possible. The submissions are expected to be incorporated into the SubT Virtual Testbed
submitted_models/marble_husky_sensor_config_3/.vscode/c_cpp_properties.json
Outdated
Show resolved
Hide resolved
submitted_models/marble_husky_sensor_config_3/.vscode/settings.json
Outdated
Show resolved
Hide resolved
|
Continued in #918 |
5 participants
This sensor configuration represents the vehicle MARBLE is presently using and plans to use for the final circuit event this fall. It differs from previous sensor configurations in that it now has 4 RGB cameras facing orthogonal directions, a vertical OUSTER LIDAR, and the front two D435i's have been replaced with Pico Flexx cameras.
I need to discuss with my team but apparently validation data for this and previous configurations were submitted to OSRF in the fall of 2020 by our teammate Kyle Harlow on behalf of MARBLE. I will ask him where that is, but on your end could you also check if that was received? Thank you guys!