Occam Razor

After two days of work we implemented the Passive mode on the mini-laptop. And here a crazy thing happened.. the estimation procedure worked fine with the range measurements alone, it worked fine with the odometry alone, but, when we tried to put the sensor on the robot it didn't work at all. .. after some unspeakably rude actions, using the Occam razor, we figured out that the source of such a mess was the EM interference of the iRobot on the Cricket clock. We investigated that and we defined as 10 cm the height where the sensor should be placed . We did a basic drawing of the mounting mechanism. We should re-look into the callback stuff now. And we should develop a outliers rejection procedure for the ones still remaining.

Last, a new Cricket batch is arrived!

fijn weekend