Talos VS Robosub 2024

Talos won SECOND PLACE in Robosub 2024!

• Gate: using vision, with style (two front flips, using IMU to recover heading)
• Buoy: using vision, circumnavigated correctly
• Torpedoes: using vision, from afar, only hit prop unfortunately, not the holes.
• Bin: Dead-reckoned
• Octagon: Surfaced!

Other notable achievements:

• No navigation issues (custom IMU driver and new FOG go brrr)
• No issues starting code before / at the dock
• First finals run in team history
• First Robosub podium finish in team history

6-29-24

• Perception seems much better with combined ZED IMU in EKF
• Successfully ran torpedo task
• Controller needs tuning
• There may be an issue with mapping/incoming detections, as the vision node reports pitch and yaw, but mapping only considers yaw.

6-1-24

• Still had issues with perception, seems like vectornav IMU delay with the ekf
• Now using combined ZED IMU and vectornav IMU for yaw
• Got some svos of the new tasks
• Added svo processing script

5-22-24

• DVL wasn't happy with the pool, so were weren't able to fully test torpedos
• ZED Point clouds now in RVIZ
• Detections look good when comparing to point cloud in RVIZ regarding vision/mapping
• SVO Button works
• April Tag now in hardware launch, no longer in tensor_detector launch

5-11-24

• IMU needs pitch/roll/yaw held at +/- ~90 degrees, but works once calibrated
• Depth converter CPP now working
• yolo_orientation in riptide_perception, tensor_detector has issue when using incoming timestamp from zed, seemed better during test when setting self.use_incoming_timestamp = False, but tbd in later test
• Controller spawned a duplicate somehow, known issue still needs fixed
• Yaw stabilization was not great, tuned it slightly
• Make sure you plug the thrusters into the right port...
• SVO button still needs tested

Talos VS Robosub 2023

TLDR, Talos did the course...

Gate:
using the deadly reakoner

Buoy:
using the tensor detector and mapping

Octagon:
headed for the ring, but missed just shy both times

Full Changelog: 6-7-23_talos...robosub2023

Talos Completed Prequal

Talos was successfully able to complete prequal with this software version. Also attempted a search run, but was unable to submerge due to the torpedo system needing to be removed (it flooded).

Known issues:

• No active vision system yet
• Noted increased drift in depth measurement. Acquiring new sensors with better resolution to resolve.
• Robot balance can be significantly modified when the torpedo system is removed. Requested to have a mass / volume simulator made should they need to be removed in the future.
• RViz bag plugin when starting all is not able to batch the requests, and some are lost so they show up as non-local. (not resolved)
• Remote bag server still saves bags to tmp dir (not resolved)

5-25-23

Talos completed pre-qual.
Apriltag map calibration is working
Controller angular needs tuning
launch system is more reliable
vectornav is stable
ekf configuration is good.
bag panel in rviz has an issue causing bags to show as non-local even though they were spawned locally
bag server storage location needs to be moved from tmp
deconflicted rviz control panels

Puddles pool test

Puddles first pool test in a year! tested up to thruster solver and did some vehicle configuration. Has issues with TF and ZED fighting eachother. This should only affect puddles though

First Talos Pool Test

Calibrated COM, Mass, COB, Volume
Fixed MKII Firmware topic changes for kill switch
Tested thruster solver config and new DSHOT thrust mappings
Tested launch_service_c for use on robot
Tested riptide GUI recipie plugin with new launch service

Marked as pre-release as it has no valid controller calibration, nor has anything higher than the thruster solver and feed-forward control been tested.