Releases · CMU-Robotics-Club/RoboBuggy2

This was Raceday 2024's Robobggy Code for both NAND and Short Circuit.

Take a look at this year's race day video here: https://youtu.be/BjfLCYTMENk?t=5881

##Key Changes Between 2023 and 2024

Introduced NAND, a Tele-Op Buggy that Short Circuit Will pass
Attempted to roll MPC, and included a more improved version of Stanley
Improved the configuration of INS, made it better reflect buggy to prevent filter divergence
Introduced Sanity Checks to make sure that both buggies provide accurate debug messages
Transitioned from ROS Serial to Bnyahaj Serial, an in-house serial protocol to communicate on NAND
Improved simulator to allow for manually-adjustable velocity and acceleration
Begun work on automated testing, and the importance of building out better software checks

What's Changed

Create pr_template.md for PRs by @christianvluu in #22
Sssilviaa/readme by @SSSilviaa in #20
Added path projection class and logic by @gzaragoza314 in #23
Fix path projection to work with 0 command by @gzaragoza314 in #24
Updated readme for M2 Chips by @mehulgoel873 in #25
Silvia/readme connection by @SSSilviaa in #28
Updated required packages by @Chuksll in #27
Jackack/nand sim by @Jackack in #26
Update README.md by @Jackack in #32
BETA: Occupancy Grid by @christianvluu in #29
Jackack/nand sim by @Jackack in #36
Sw/update velocity by @PatXue in #34
Kills all ros-processes and then launches ros by @mehulgoel873 in #33
Add CUDA + PyTorch by @NoRePercussions in #31
Create pylint.yml by @christianvluu in #19
Sw/UI velocity by @TiaSinghania in #38
Auton overtake feature, as well as pylint fixes by @Jackack in #39
Rk4 sim by @PatXue in #41
Automated testing setup by @christianvluu in #42
Sim launch position arg by @PatXue in #43
deleted the firmware by @TiaSinghania in #46
added preroll checks and publish check status by @TiaSinghania in #44
Mehulg/paralellism by @mehulgoel873 in #50
updated telematics_layout by @JoyceZhu2486 in #48
Changes made during mock rolls, debugging sessions that need to be preserved by @Jackack in #47
during rolls sanity check by @TiaSinghania in #52
Quick ancient script fix by @mehulgoel873 in #53
Nand launch file by @PatXue in #57
removed stale RTK status subscriber by @Jackack in #55
fixed busy loop bug in path planner by @Jackack in #51
Serial by @mehulgoel873 in #58
Steering angle rate check by @JoyceZhu2486 in #56
updated debug steer with more patterns by @Jackack in #64
added more starting positions by @Jackack in #63
changed telematics to visualize nand position by @Jackack in #65
updated INS params by @Jackack in #66
fixed lat lon inversion in rosbag waypoint parsing, added paths from mock rolls by @Jackack in #59
Set correct teensy port name for NAND by @PatXue in #69
new path planning logic by @Jackack in #62
fixed filter diverge check by @Jackack in #73
removed check for NAND position by @Jackack in #74
added try-except when converting nand pos by @Jackack in #71
Alarm serial by @Jackack in #76
use gps antenna position if filter diverges by @Jackack in #75
Fixed change by @mehulgoel873 in #77
Autonsystem update by @Jackack in #79
-for autonsystem and serial node by @Jackack in #78
added namespace config to debug steer by @Jackack in #81
Ukf by @mehulgoel873 in #82
only check filter divergence when rtk updates, by @Jackack in #84
Fix message parsing by @SuperTails in #85
Truck weekend by @TiaSinghania in #87
fixed bnyatelem by @TiaSinghania in #88
removed topic remap for odom on NAND by @TiaSinghania in #89