22/10/05 RobotLibrary Development Meeting

[ssutjipto]

Chair:

• Sheila @ssutjipto

Attendees:

• Jon @Woolfrey
• Sheila @ssutjipto

Agenda:

Note: Last week's items should become this week's agenda.

Item	Tag	Responsible	Comment
Finish off QP class	#62	@Woolfrey	Completed, tested with projects outside of this library
Start on the ROS trajectory package if time permits	#42 #43 #44	@Woolfrey	Delayed, package will be implemented with ROS 2 rather than 1
Create milestone for debugging tasks	N/A	@ssutjipto	Still need to do this, but demoting to (Phase 2)
Create milestone for Inverse Kinematics (requires QP solver)	N/A	@ssutjipto	Still need to do this
Code review	#41 #46 #45 #53	@ssutjipto	Code has changed with implementation of QP solver, all closed
Kinematics and dynamics solved in single loop	#53	@ssutjipto	Closed
Delete config branch after @ssutjipto checks test scripts	N/A	@ssutjipto @Woolfrey	Deleted

Additional Discussion Points:

Anything not captured in the agenda.

Discussion Point	Raised By	Tag	Outcome
Add Jacobian matrix as a class member	@Woolfrey	#56	Agreed
Phase 1 and phase 2 tasks for the project	@Woolfrey	N/A	Split all enhancements into phase 2 of the project

Next Meeting:

Note: These will become the agenda for the next meeting.

Item	Tag	Responsible
Check Quintic Polynomial math (coefficient a)	N/A	@Woolfrey
Add Jacobian matrix as a class member	#56	@Woolfrey @ssutjipto
Create milestone for Inverse Kinematics (requires QP solver)	N/A	@ssutjipto
Add Inverse Kinematics solver	N/A	@ssutjipto
Demote all Phase 2 issues to notes		@Woolfrey
Implement Trajectory demo in ROS 2		@Woolfrey

Conclusions

Things are progressing. Close to having a ROS wrapper for the library, only delayed by choosing to implement with ROS 2.