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projects:citynetmobil:201002showcaseformello:management:developments [2011/02/09 11:43] (current)
Paulo RESENDE created
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 +====== Developments ======
 +Formello showcase
 +[[:projects:citynetmobil|Main project page]] | [[:projects:citynetmobil:201002showcaseformello|Showcase page]]
 +
 +===== Software Development =====
 +{{  :users:pauloresende:waterfall_model.png  | Waterfall model}}
 +
 +----
 +==== Requirements ====
 +Needs or conditions to meet by the system.
 +
 +^ N° ^ Description ^ Comments... ^ Status ^
 +| 0 | The system must demonstrate an urban transport system based on cybercars | | YES |
 +| 1 | The system must be usable by the audience that will visit the site | User-friendly HMI/system (still needs improvement) | YES |
 +
 +----
 +
 +==== Design ====
 +Definition of the architecture, components, modules, interfaces, and data for a system to satisfy specified requirements.
 +^  Use case #1 & #3 (LIDAR)  ^  Use case #2 (RTK-GPS)  ^
 +| {{ :contracts:citynetmobil:201002showcaseformello:20100218_Formello_cycab_lidar.png?400 | Software architecture cycab lidar }} | {{ :contracts:citynetmobil:201002showcaseformello:20100218_Formello_cycab_rtkgps.png?400 | Software architecture cycab rtkgps }} |
 +
 +----
 +
 +==== Implementation ====
 +Realization of the components, modules, interfaces according to the system design.
 +
 +Implementations and components used in the Cycab:
 +^ Package ^ Component ^ Details ^ Developper ^ Status #1 ^ Status #2 ^
 +| Communications | ScopeCurl |  | EPITECH | YES | YES |
 +| Control | ControllerDeMux |  | Paulo Resende | YES | YES |
 +| Control | SimpleController FIXME | Simple path following | Laurent + Paulo | YES | YES |
 +| HMI | CCI |  | EPITECH | YES | YES |
 +| HMI | Dashboard |  | Paulo Resende | YES | YES |
 +| HMI | GEarthVehicleState |  | Paulo Resende | YES | YES |
 +| HMI | VehicleStateVectorViewer |  | Paulo Resende | YES | YES |
 +| Perception | VehicleState |  | Paulo Resende | YES |  YES  |
 +| Perception | LaserSlam | LIDAR based SLAM | Jianping Xie | YES | Not used |
 +| Perception | FusionPosition | GPS, odometry and gyro data fusion | Laurent Bouraoui | Not used | YES |
 +| Perception | ObstaclesDetectionLaser |  | Paulo Resende | YES | YES |
 +| Planning (Route) | RoutePlanner |  | Julien Valentin | YES | YES |
 +| Planning (Trajectory) | Path2TrajectoryPlanner | Path with speed profile | Paulo Resende | YES | YES |
 +| Supervision | SpeedGuard |  | Paulo Resende | YES | YES |
 +^ Package ^ Component ^ Details ^ Developper ^ Status ^
 +| Actuators | Throttle, brake, etc... |  | ... | YES | YES |
 +| Sensors |Crossbow | | ... | YES | YES |
 +| Sensors | AlascaXT | | ... | YES | YES |
 +| Sensors | Cybercars | | ... | YES | YES |
 +
 +#1 - Lidar (Cycab)
 +Used diagrams:
 +  * cycab_lidar_rec_map: Record the lidar map
 +  * cycab_lidar_rec_path: Record a path using lidar
 +  * cycab_lidar_play_virtualdestination: Play using a virtual destination without using the HMI
 +  * cycab_lidar_play_cci: Play using the HMI (CCI component)
 +
 +#2 - RTK-GPS (Cycab)
 +Problems with the quality of the satellites constellation detected in-site making this scenario not possible to perform.
 +
 +Implementations and components used in the CyBus (closed AGV):
 +^ Package ^ Component ^ Details ^ Developper ^ Status #3 ^
 +| Communications | ScopeCurl |  | EPITECH | Not used |
 +| Control | Controller | Simple path following | Laurent + Paulo | YES :!: |
 +| Control | ControllerDeMux |  | Paulo Resende | YES |
 +| HMI | CCI |  | EPITECH | YES |
 +| HMI | GEarthVehicleState |  | Paulo Resende | YES |
 +| HMI | VehicleStateVectorViewer |  | Paulo Resende | YES |
 +| Perception | VehicleState |  | Paulo Resende | YES |
 +| Perception | slam30 | LIDAR based SLAM | Olivier Garcia | YES :!: |
 +| Perception | FusionPosition | GPS, odometry and gyro data fusion | Laurent Bouraoui | Not used |
 +| Perception | ObstaclesDetectionLaser |  | Paulo Resende | YES |
 +| Planning (Route) | RoutePlanner |  | Julien Valentin | YES |
 +| Planning (Trajectory) | Path2Trajectory | Path with speed profile | Paulo Resende | YES |
 +| Supervision | SpeedGuard |  | Paulo Resende | YES |
 +^ Package ^ Component ^ Details ^ Developper ^ Status ^
 +| Actuators | Throttle, brake, etc... |  | ... | YES |
 +| Sensors | AlascaXT | ... | ... | YES |
 +| Sensors | Cybercars | | ... | YES |
 +
 +#3 - Lidar (Closed AGV)
 +Used diagrams:
 +  * cybus_lidar_rec_map_OLD: Record the lidar map (using OLD components)
 +  * cybus_lidar_rec_path_OLD: Record a path using lidar (using OLD components)
 +  * cybus_lidar_play_cci_OLD: Play using the HMI (CCI component) (using OLD components)
 +
 +----
 +
 +==== Verification ====
 +Verification, validation and testing of the system to ensure that it meets the specifications and fulfils the requirements.
 +
 +^ Use case ^ Description ^ Comments ^ Status ^
 +| **#1** | Driverless Cycab with Lidar based SLAM | Added RESET action and IsLost output to LaserSlam component | YES |
 +| **#2** | Driverless Cycab with RTK-GPS | Not done due to the bad GPS signal quality that prevented to have RTK-GPS precision. | NO |
 +| **#3** | Driverless Closed AGV with Lidar based SLAM (old) | Using OLD packages/components (not rebuild projects) | YES |
 +
 +----
 +
 +==== Maintenance ====
 +Actions that keep the system in working order, or prevent trouble from arising during its operation.
 +
 +^ Issue ^ Assigned to ^ Status ^
 +| Add low pass filter to the SimpleController to prevent big velocity changes | Paulo Resende | NO |
 +| Fix the RTMAPS Expose component of ScopeCurl. Read the comments in the code of the Birth() method. | ... | FIXME |
 +| Modify CCI so that it can display information useful for debug | ... | NO |
 +| Fix the Booth CycabInterface so that it doesn't stay blocked when a vehicle is called by it | ... | NO |
 +| Modify the ObstaclesDetectionLaser to use the trajectory OR current implementation | ... | NO |
 +| Check what components cause RTMaps to crash (usually when the RTMaps stop is pressed) and assign to be fixed | ... | NO |
 +
 +----
 +
 +===== People involved =====
 +{{topic>citynetmobil 201002showcaseformello +people&list&nodate&nouser}}
 +
 +----
 +
 +{{tag>citymobil 2010 showcase formello pauloresende}}
 
projects/citynetmobil/201002showcaseformello/management/developments.txt · Last modified: 2011/02/09 11:43 by Paulo RESENDE
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