A running log of our work on the X30, newest entries at the bottom.
| Date | Entry |
|---|---|
| 2026-10-11 | Project start. Repository set up for the X30’s three onboard computers. |
| 2026-10-12 | Repository mirrored to the robot. Existing SLAM tools and route_manager brought under version control. Foxglove bridge running as a boot service. On-demand internet for the robot over an SSH tunnel. |
| 2026-10-13 | Vendor software versions recorded. Map manifest and per-map route versioning in place. |
| 2026-10-14 | Foxglove panels and layouts for SLAM and route control. |
| 2026-10-15 | terrain_gait added: LiDAR terrain classification and gait switching, with simulator and tests (ROS 2). |
| 2026-10-16 | Vendor navigation stack and path tracker documented. ROS 1 terrain_gait node, velocity gate, point filters and profiling. Per-waypoint floor and leg settings in route_manager. |
| 2026-10-20 | Multi-floor support: floors and staircases from the mapping path, stair corridors, Route Control 0.2.0, floor configuration corrected for indoor-mode maps. |
| 2026-10-22 | ROS 1 terrain_gait made fully independent of the ROS 2 package. Heuristic automatic gait switching complete and working on the robot under teleoperation. Multi-floor stair routes run autonomously on the vendor stack, with gaits preset per leg. Next: our own continuous path-tracking controller (pure pursuit and MPC baselines). |
| 2026-10-23 | nav3d built: our own 3D route follower with a swappable controller, pure pursuit first. Tested in simulation, including full routes with terrain_gait in the loop. |
| 2026-10-24 | First run of nav3d pure pursuit on the robot: a continuous multi-floor route with automatic gait switching, ending in a fall on the stairs after a wrong gait choice mid-flight. |
| 2026-10-26 | Language-guided navigation: Claude picks the targets, the vendor planner walks them, and an OCR model reads signs on the way; it finds Skirkanich Hall from a hint. X30 walk and silent-gait policies running in MuJoCo. |