- Add methods to allow insertion of simulated structures into occupancy grids, such as walls and doorways. Grids created in this way can then be used for unit testing.
- Add routines for probing the grid to recover ranges or an array of probabilities.
- Unit tests for grid based localization (in simulation)
- Devise a mechanism whereby the mapping service can ask the odometry server for data, such as "what was my best pose estimate at time t".
- Odometry fusion. Odometry offsets need to be applied relative to the current or estimated pose.
- Simulation unit tests for odometry fusion - prove that pose error remains stable.
- Data gathering runs in a real environment (not simulation). Collect wheel and visual odometry data, which may be used for simulation tests.
- Localizing runs in a real environment, using MCL, or similar.
- Devise a front end to make using the robot easier. This might be GWT based (used through a browser) or could be based on GTK/Winforms. A web based system would be preferable, although has limitations in terms of the kinds of visualizations possible.
- Keep testing until it works.
- Create a web site for GROK2, and upload testing data so that the results may be independently analyzed/reproduced (trying to make robotics a real science!).
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