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10/4 Rolls #63

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@rk012 rk012 commented Oct 4, 2025 •
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10/4 Rolls

Summary of changes

Rolls Results

  • No improvement in control latency on NAND from switching to Ubuntu Server
  • UKF did not explode (vacuously true, did not get to actually test)
  • Ran buggyvision node, appears to be working (read: not crashing)
  • NAND UKF heading issues - wrong initialization logic, negative velocity+180 deg off
    • firmware issue, also this issue has occured before
    • initial heading check causes auton to not start
  • Camera is in BGR - created new issue, Reverse Camera (BGR/RGB) #64
  • SC auton not working on stack startup, need to test at mock rolls
    • TKTKTK root cause, determine after debug
  • New path was pathing, need to make more shallow -- will revert to original raceline

@rk012 rk012 self-assigned this Oct 4, 2025
@rk012 rk012 changed the title 10/4 Rolls [unmerged] 10/4 Rolls Oct 6, 2025
@rk012 rk012 changed the title [unmerged] 10/4 Rolls 10/4 Rolls Oct 6, 2025
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rk012 commented Oct 6, 2025

(unmerged for this week)

@rk012 rk012 marked this pull request as draft October 8, 2025 21:23
@TiaSinghania TiaSinghania mentioned this pull request Oct 26, 2025
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@TiaSinghania @rk012
Fixed Camera Format (BGR to RGB) (#72)
12a68fe 
Co-authored-by: Rishi Kumar <rishikumar@cmu.edu>
Co-authored-by: root <root@Ospr3y.localdomain>
@hpuranik hpuranik mentioned this pull request Oct 29, 2025
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1 task
@TiaSinghania TiaSinghania mentioned this pull request Oct 29, 2025
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@saransh323 saransh323 mentioned this pull request Oct 29, 2025
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saransh323 and others added 4 commits November 13, 2025 13:17
@saransh323
Reduced subscriber/publisher QoS queue length to 1 (#75)
407047e
@TiaSinghania @rk012
Put the old lines for SC and NAND back (pre paved line) (#74)
c5db71a 
Co-authored-by: Rishi Kumar <rishikumar@cmu.edu>
@mehulgoel873 @saransh323 @AnthonyHoneine
Steering offset ukf (#81)
6ec49a1 
Co-authored-by: Saransh Agrawal <saransh323@gmail.com>
Co-authored-by: AnthonyHoneine <anthonyhoneine@hotmail.com>
@saransh323
Fix Stanley Controller: use front axle for cross-track error and corr…
4fbb8ea 
…ect yaw rate computation (#83)

Co-authored-by: copilot-swe-agent[bot] <198982749+Copilot@users.noreply.github.com>
Co-authored-by: saransh323 <24824351+saransh323@users.noreply.github.com>
github-code-quality[bot]
github-code-quality bot found potential problems Jan 14, 2026
View reviewed changes
rb_ws/src/buggy/scripts/estimation/nand_estimator.py
from buggy.msg import StampedFloat64Msg


from ukf_utils import *
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