Developments

Formello showcase

Main project page | Showcase page

Software Development

 Waterfall model


Requirements

Needs or conditions to meet by the system.

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)
 Software architecture cycab lidar  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

 
projects/citynetmobil/201002showcaseformello/management/developments.txt · Last modified: 2011/02/09 11:43 by Paulo RESENDE
Recent changes · Show pagesource · Login