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CSE 481

ROBOTICS CAPSTONE

Instructor: Maya Cakmak

mcakmak@cs.washington.edu

Teaching Assistant: Vinitha Ranganeni

vinitha@cs.washington.edu

WEEK 2 | TUESDAY | APR 5, 2022

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BASICS

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www.ros.org

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NODES

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NODES

Robot wheel

controller

Kinect driver

GUI

INPUT

OUTPUT

INPUT &

OUTPUT

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NODES

Robot wheel

controller

Navigation

algorithm

Kinect driver

Person

detection

algorithm

Object

detection

algorithm

GUI

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NODES

Robot wheel

controller

Navigation

algorithm

Kinect driver

Person

detection

algorithm

Object

detection

algorithm

GUI

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Kinect driver

Person

detection

algorithm

Object

detection

algorithm

Messages

SERVER

CLIENT

“servers publish messages onto topics”

“clients subscribe to topics”

“messages have msg types”

rgbd_image

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SERVER

CLIENT

“client requests a service”

“server responds to the request”

“services have srv types”

“servers advertise available services”

Services

get_nearest_person(..)

Navigation

algorithm

Person

detection

algorithm

person_distance

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Robot wheel

controller

Navigation

algorithm

SERVER

CLIENT

Actions

“client requests an action”

“server performs action and responds”

“servers advertise available actions”

temporally extended callback, can send feedback during action

move_forward(2.0, 0.5)

reached_target

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TEAMWORK

Katzenbach & Smith: The Discipline of Teams

Working Group

Strong, clearly focused leader
Individual accountability
The group's purpose is the same as the broader organizational mission
Individual work-products
Runs efficient meetings

Measures its effectiveness indirectly by its influence on others (e.g., financial performance of the business)
Discusses, decides, and delegates

Team

Shared leadership roles
Individual and mutual accountability
Specific team purpose that the team itself delivers
Collective work-products
Encourages open-ended discussion and active problem-solving meetings
Measures performance directly by assessing collective work-products

Discusses, decides, and does real work together

https://hbr.org/2005/07/the-discipline-of-teams

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TEAMWORK

Meet people properly
Find things you have in common
Make meeting conditions good
Let everyone talk
Check your egos at the door

Praise each other
Put it in writing
Be open and honest
Avoid conflict at all cost
Phrase alternatives as questions

Randy Pausch

https://www.cs.cmu.edu/~pausch/Randy/tipoForGroups.html

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TEAM ROLES IN CSE 481

ROS guru: Understands the nitty gritty details of ROS (e.g. what's the difference between a topic and a message?) and knows how to use different ROS tools.
Perception guru: Understands sensor data and can write software for processing it.
Hardware guru: Understand the hardware, is not afraid of using a screw-driver or a 3D printer.
Design and fabrication guru: Makes sketches of ideas, knows 2D and 3D computer-aided design tools, knows how to operate the laser cutter and 3D printer.
User interface guru: Understands human factors and usability, makes things look good.
Manager: Makes sure every team member is on the same page at all times. Help make decisions (layout pros and cons). Enforce "interface agreements" so components can be easily integrated.
Documentation and communications: Makes videos, takes notes, writes blog posts, gives presentations.

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TEAM EVALUATION

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TEAM EVALUATION

Attended a large majority of group meetings
Maintained contact with other group members
Communicated constructively in discussions
Generally was cooperative in group activities
Encouraged and assisted other group members
Made a genuine attempt to complete all jobs agreed by the group
Made an intellectual contribution to the completion of the task
Did (at least) their fair share of the work
Based on your ratings above, this student’s contribution overall on this group task