23/01/19 RobotLibrary Development Meeting

[Woolfrey]

Chair:

• Jon @Woolfrey

Attendees:

• Sheila @ssutjipto

Agenda:

Item	Tag	Responsible	Comment
Check Quintic Polynomial math (coefficient a)	N/A	@Woolfrey	Fixed error; Sheila was correct.
Add Jacobian matrix as a class member	#56	@Woolfrey @ssutjipto	Done by @Woolfrey
Create milestone for Inverse Kinematics (requires QP solver)	N/A	@ssutjipto	Still to be done.
Add Inverse Kinematics solver	N/A	@ssutjipto	To be done.
Demote all Phase 2 issues to notes		@Woolfrey	I'm pretty sure I did this.
Implement Trajectory demo in ROS 2		@Woolfrey	Not done still. Learning ROS2 publishers.

Additional Discussion Points:

Discussion Point	Raised By	Tag	Outcome
Replace kinematics & dynamics for SerialLink class with a new KinematicTree class.	@Woolfrey	N/A	Go ahead with KinematicTree, need to branch off of devel.
Created Pose class that combines Eigen::Vector3f and Eigen::Quaternionf	@Woolfrey	N/A	Avoids SE(3) representation from Eigen::Isometry. Can be integrated alongside KinematicTree class.
Need an algorithm to convert URDF to KinematicTree object	@Woolfrey	N/A	Probably best to write alongside KinematicTree.
Working SerialControlBase class that is inherited by SerialKinematicControl and SerialDynamicControl	@Woolfrey	N/A	Low priority until KinematicTree and SerialLink are complete.

Next Meeting:

Item	Tag	Responsible
Create Issues/Milestones for the tasks below and tag them	N/A	@Woolfrey
Create feature(?) branch for KinematicTree class.	N/A	@Woolfrey
Finish testing Trajectory class with ROS2	N/A	@Woolfrey
Replace Eigen::Isometry3f with Pose in RigidBody class.	#76	@Woolfrey
Start on parsing URDF files	#77	@ssutjipto
Insert Link properties from URDF in to a Branch class.	#78	@ssutjipto
Develop skeleton for KinematicTree class	#83	@Woolfrey

Conclusions

If we develop KinematicTree, this will put us in a good position for future research and implementation of a wide variety of robots.
We can make good progress if we dedicate 2 days to working on code.