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DARPARoboticsChallengeQ&ARound11–QuestionsFeb24,2013–Mar11,2013March20,20131ContractualNonewquestionsinthisperiod2ProgrammaticNonewquestionsinthisperiod3Technical3.1COMMsandNetworkingT‐302:Atthelowerend[ofbitallocationoptions],countingbitsbecomescritical.AreweconsideringTCPoverhead,orjustapplieddata?ROSoverhead?A:Wewillcount"payload"bitssentbytheteam,not"overhead"bitsaddedbytransportprotocolssuchasUDPorTCPorROS.3.2GFESimulationT‐303:InthepastitwasstatedthatthewalkingcontrollerswouldNOTbesufficienttoperformthechallengetasks(e.g.walkingoverpostsonqualificationchallenge).Isthisstilltrue?A:TheDARPADRCTeambelievesthatthewalkingcontrollerwillbesufficienttogetthroughtheVRCQual‐1task,andmayormaynotbesufficienttogetthroughtheVRCcompetitionwalkingtask.Itisdesignedtobeslowandprecise,andmaynotallowateamtocompletethecoursewiththeavailabletimeforthetask.TeamsshouldplantodesigntheirownhighlevelwalkingcontrollersinconjunctionwithorinsteadoftheBDIcontroller.T‐304:CouldOSRFmakeitclearintheuserguidewhichinformationregardingthesensorsisfinal,andwhichissubjecttochange?A:Unfortuantely,itisnotpracticaltomarktheuserguideasrequested.T‐305:Whenwilltheimplementationsofsensorsbefrozeninthecode?Whenwillthesensorupdateratesbefrozen?A:Themostup‐to‐dateinformationisprovidedintheroadmaphttp://gazebosim.org/wiki/DRC/RoadmapT‐306:WhattypeofIMUisbeingsimulated?A'packaged'IMUwithitsownfilters,a'raw'IMUwithnoisysensorreadingsonly,ora'cheating'IMUknowingabsoluteorientationinGazebothataddsnoise?1DARPARoboticsChallengeQ&ARound11–QuestionsFeb24,2013–Mar11,2013March20,2013A:Themostup‐to‐dateinformationisprovidedinthewiki.Seehttp://gazebosim.org/wiki/Sensor_noiseT‐307:Regardingsensornoise,areyouplanningonaddingnoisetoothersensorslikejointpositionreadings,force/torquesensors,ortactilesensorsaswellorjustlidar/imu/camera?A:Ourcurrentplanistoonlyputnoiseonthecamera,LIDAR,andtheIMUs.Wedonotplantointroducenoiseintoforce‐torquesensors,thejointangleposition/vel
