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ISN (Issue Serial Number)Date FoundDate FixedChange made by (andrew ID)Origin
DescriptionResolutionArtifacts changed
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ISN-0101/15/202002/15/2020rgraoShipment delay - Chinese New Year, nationwide epidemic lockdown
Chassis and components delayed due to Chinese New Year coinciding with end of CMU break, health concerns in China due to epidemic, delay in shipments due to paperwork delay from CMUEvaluated hardware available in inventory, finalized RC car platform for temporary testing, expedited sensor shipments within USA to ensure deployment on actual hardware, reorganized simulation tasks to maximize integration when hardware arrives
1. Schedule for Spring
2. Simulation tasks
3. Hardware setup for SVD
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ISN-0203/15/202003/24/2020sachitmaUniversity closure due to Covid-19Have to practice social distancing and no access to MRSD labs and hardware.Shifted SVD to simulaion, developing 2 simulation platforms to test all system functionalities. Adding robustness to simulations1. SVD Plan
2. WBD
3. Task allocation
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ISN-0304/08/202004/08/2020rgraoCARLA crashes during intensive point-to-point navigation testingThe CARLA simulator does not work reliably with Autoware when trying to provide a pose for point to point navigation, and often crashes and loses localization fix, causing the vehicle to start moving around erratically. Shifted the simulation to Gazebo, where we obtained a global map as well as a point cloud map and waypoints to navigate around. This was more stable and worked well with Autoware-provided paths.1. SVD Plan
2. Cyberphysical architecture
3. Task allocation
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ISN-0405/01/202005/01/2020AllEngineer unavailable to assemble the chassisDue to the COVID19 crisis, the engineer from PIX Moving is not able to come for the purpose of helping us assemble the chassis.We will need to assemble the chassis ourselves with instructions from PIX, and also have them purchase the sensors, tires and computing units for that purpose.1. FVD Plan
2. WBS/Schedule for Fall 2020
3. Task allocation
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ISN-0508/01/202008/10/2020rgraoTires and rims unavailable for chassisThe chassis was sent without tires and rims installed.We need to purchase tires and rims for installation, and then have them professionally fitted in an auto shop.1. Task Allocation
2. Budget
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ISN-0610/14/202012/14/2020rgraoBattery dormant and not chargeableThe battery in the chassis was not charged for nearly 6-7 months and may be dormant, causing it to have dropped below the minimum voltage for charging.We need to shift from hardware to simulation testing for the project.1. Simulation tasks
2. Task allocation
3. FVD Plan
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ISN-0710/26/202010/28/2020sachitmaTEB Planner unstableThe TEB planner used by the chassis to navigate in various system states was unstable and oscillated around waypoints, especially when the CPU usage on the system was high (using Zoom screen share or screen recording simultaneously)Tune the TEB planner or reduce the speed of the chassis and reduce system load to ensure the planner is able to complete the optimization successfully1. Simulation Tasks
2. Task allocation
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ISN-0811/02/202011/04/2020rgraoVector map unusable with AutowareDespite trying 2-3 vector map tools (Assure, Tier IV, etc), vector map is not working with Autoware and OpenPlanner.Shift to a completely free space navigation based planner and provide a set of waypoints to navigate between different locations. Navigate between these waypoints using the TEB planner and use feedback to ensure reaching the goal.1. Simulation Tasks
2. Task allocation
3. Cyberphysical architecture
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