Where is that beer?

[Michael Wimble]

I’m just about ready to start looking for that beer.

If anyone is interested, I’ve redone the documentation completely for the Teensy board subsystem for Sigyn. It includes a description of the Module class that allows me to measure performance to meet sensor guarantees, the SerialManager class that, along with the sigyn_to_sensor_v2 system, provides lockless/non blocking communication between Ros 2 and my 3 custom boards, the PerformanceMonitor class that actually does all the performance stuff, the SDLogger that does efficient logging to the SD card and provides maintenance features for the card, and the SafetyCoordinator—the big thing I’ve just rewritten. More documentation fixes for the whole repository are upcoming as well as completion of the safety system.

But, I’m starting on the behavior tree for the robot. I plan to do it all in Ros 2. I plan to use a reactive behavior tree so it can respond to safety issues and recharging demands (which, is actually just another safety issue) and have a fair amount of recovery and alternate strategy behavior. I might be completely replacing the whole gripper system and using Aleksandr’s arm, depending on timing and effort. If not, I need to at least get an end effector that can open wide enough and say “ah” to grab the can.

Is anyone else hoping to enter a robot for the Can Do challenge?  https://www.rssc.org/can-do-challenge.html. I don’t know if the date has been set. I’ll have to do it remotely and send in a video.

Anyone want to discuss their strategy? Anyone having results to share?