A novel algorithm, called ROS Discourse General, is presented for calculating the consistency residual of odometry/TF streams. The algorithm measures how much a result shifts when changing the nesting order of state composition with three consecutive pose samples in and one scalar residual out. Synthetic test results show significant differences between smooth linear motion (4.9848e-08) and abrupt pose/orientation jumps (0.000881456).
Drones have made significant progress in the DARPA Lift Challenge, a competition aimed at developing robots capable of lifting heavy loads. At the event, drones demonstrated impressive strength and agility by successfully lifting and moving heavy objects. The challenge showcases innovation in robotics and drone technology. Robots developed for the challenge include drones with various capabilities and designs, including those inspired by geckos for enhanced gripping abilities.