SAR:
Cleaning up house:
What's being worked on right now:
Jetson spinup (getting ROS to run on the jetson, being done by Keyon right now)
go from emmc → SSD storage
look out for correct architecture
CAN/ROS2 hardware interface (being worked on by Colin right now)
Cartesian arm controller (Meshva + Andrew waiting on doc from Orson)
After:
Integration testing for drivetrain (testing our hardware interface with the drivetrain hardware by spinning up a velocity controller)
Science module ROS2 package
Creating full robot URDF and integrating robot URDF with ros2_control
Won’t have a complete robot until late fall/winter, why wait?
Use SWtoURDF plugin to convert current robot assembly to URDF
Add ros2_control tags
Add camera/sensor tags
Communications:
Setting up controller movement (aka use of xbox controller/joystick to control robot
Setting up direct camera feed from Jetson to base station)
Displaying robot URDF in Gazebo/RViz and sending joint position data from Jetson to base station to be simulated
Autonomy:
Get GNSS data/equip robot with GNSS sensor
… everything else required for the Autonomous Navigation Mission