Zima · 2025-11-02 · 2 hours
Goal: Install cameras and clean up internals
What I did:
- Reorganized / cleaned up circuit board layout inside main enclosure
- Installed 2 cameras (1 wrist and 1 forward mounted)
- Wrote basic ros2 camera driver using opencv
What worked:
- Camera data streaming working!
- pcbs rearranged inside to make more room for main computer and battery
What failed:
- Internet bandwidth issues for camera streaming
- fixed using compression
- FOV of forward facing camera lower than expected, cannot see gripper in all positions
Key learning:
- uncompressed image data is larger than expected
Next session:
- add a basic scene (plane + cube) to Mujuco
- add a basic tracked robot (find online? use ai? differential drive)
- control basic tracked robot using keyboard
- update data.ctrl to control tracks
- eventually add zima stl files and get a proper simulation going
- capture camera data within simulation
Time spent: 2 hours