pr2_plugs_executive/Reviews/2010-02-16_Postmortem_Doc_Review

Reviewer:

Future Work

Targets

• Release Plugs 0.1 Stack
  • regression tests
  • put ALL packages in released stack
• Plug-In Demo on Any Calibrated Robot
  • determine plug position on base
  • run on different robots
  • auto-calibration for offsets
  • web interface to plug-in
• 24-7 Operation On One Robot
  • fix the wiggle
    • should always be able to push all the way in
  • cord that we can actually plug-in with
  • approach part of milestone
    • detection
    • movement
    • precise positioning
    • topological map
  • robust recovery behavior (BIG)

Brainstorm

Nice-To-Have Improvements

• smooth movement trajctories
• work in confined spaces
• try using the arm planner
• median filters for plug detector

Long Term Goals

• release DEMO app
• run 24/7
• full executive
• charging logic
• different outlets
• different orientation outlets
• differet arm
• automatic exploration to find outlets
• plug-in OTHER robot

Concerns / issues

Plan