====== Fausto Vega REU 2019 Journal ======

**Author:** [[unlv_vega|Fausto Vega]], Email: <vegaf1@unlv.nevada.edu>
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**Date Last Modified:** 06/30/2019
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===== Week 6 =====

==== Photo of the Week ====

{{ :vega:img_0875.jpg?upright }}

I spent most of this week in Las Vegas due to a family emergency, yet I still got some work done. This picture is of the ROS nodes I have been working on. The purpose is to display the angle of the bounding box relative to the center of the camera whenever the service is called. 

==== Weekly Progress/ Next Week Plans ====

I finished the service and the subscriber to the bounding boxes. I have also learned to access the data from the laser scanner array. Therefore, the next step is to publish this angle to a laser scanner node that accesses the distance value at that angle which will let the robot localize the obstacles in its path. I have also been working on the paper deliverable that is required from the REU. So far, I have the intro, related work, and methods sections complete. The goal for this week to to get the Pioneer running with a navigation stack (or if there is not an existing one on ROS, then I'd have to configure an existing nav stack of another robot). Another goal is to compile everything into a launch file. 


==== What I Learned about Myself ====

I learned that the only way to learn ROS is by working with it. The only experience I had with it was in Keitaro's class learning turtle sim. Yet, after that I have not used it for any projects. 

I also learned that I can catch on to things quick. I did not know anything about open cv and now I understand the basics, the same goes with python. 
 
==== New Person That I Met ====

I did not have a chance to meet anyone new this week due to most of it being spent in Las Vegas.