Despite our very best efforts to remain aware and concentrated, we do come across times when we're confused with a very small issue and then later feel silly about the same. Here's a geek-rant about a silly confusion that I experienced, a few months back.
Team Autonomous Underwater Vehicle (AUV) is a
Research group of IIT Kharagpur
that focuses on making full-fledged autonomous underwater bots. Making such
an autonomous bot requires skill-set in fields like Image Processing, GUI for
simulator, Controls system, Battery management system, Hardware design, etc.
For integrating these different fields and sensors to work with one another,
we at Team AUV use Robot Operating System (ROS).
As a Software Team Member of Team AUV, I was given the task of updating our
existing Sparton sensor - ie, I had to change the existing
message types and make the python script to read the message(s) from
ROS parameters called
The Sparton sensor's script in general deals with
mechanical variables - like
, etc. As a
measure of confidence on the readings provided by the sensor in the working
conditions, there are covariance matrices for
. While porting the new sensor script, I
saw these covariance matrices that had to be found - and as I wasn't sure
about the procedure to find out their values, I started a discussion on
of our slack group. What unfolded next, in an interval of
half an hour was this discussion below between me,
Pranay Pratyush and
Siddharth Kannan. Read our discussion below,
to find out how we understood about the required covariance, in quite an
anti-climatic plot-twist manner.
As mentioned by Siddharth, the IMU sensor_msgs documentation by ROS, cleared this self-created confusion, and the porting of new message types for sparton sensor was successfully accomplished with Pull request #112. Nevertheless, this incident is a sweet memory that the three of us will remember for a long time, unless another dumb confusion crosses our path in a similar fashion to humble our non-existent ego.