W2023 SAR Push - Software Team Member Split

Members

In-person:

• Colin

• Keyon

• Orson

• Soumya

• Cheng

• Nico

Remote:

• Andrew

Training:

• Edward (in-person)

• Nafiz (remote)

• Suraj (in-person)

Project Split

Hardware interface → Colin

1. Create generic UWRT CAN wrapper class (under uwrt_mars_rover_utilities) for use for all hardware interfaces. GitHub Issue

2. Implement CAN wrapper for Drivetrain hardware interface. Stub CAN IDs and data until given by firmware team. GitHub Issue

3. Implement CAN wrapper for Arm hardware interface. Stub CAN IDs and data until given by firmware team. GitHub Issue

Comms → Soumya, Nico, Keyon

Only partially Nico.

Drivetrain control:

1. Nico: Create ROS2 node for reading from Xbox joystick, and publishing it over the ROS2 network. GitHub Issue

2. Soumya: Create node for controlling the drivetrain via the Xbox controller; aka create a ROS2 node to pipe data from the joystick over to ros2_control.

3. Soumya

Video stream:

1. Nico: Create node to read from zed_ros2 camera stream, publish over the ROS2 network.

2. Soumya: