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05/19/21 - FW/SW Task Planning S2021

05/19/21 - FW/SW Task Planning S2021

May 19, 2021

SW Tasks

  • ODrive

    • Connect ODrive to our CAN

      • Put ODrive CAN descriptors in our YAML CAN suite (https://docs.odriverobotics.com/can-protocol)

      • Create ODrive sw interface?

        • ROS controller?

  • ROS2 transition

    • Integrate GitHub CI (Melvin + Orson)

    • Utility package

      • CAN rearchitecture

    • Integrate ROS2 control (60% of repo)

    • Integrate URDF with ROS2 (Abdul)

  • Autonomy

    • Need a robot state publisher node (for transformations)

      • Update URDF

      • Need robot joint positions

    • Zed 2 camera + sensor data

      • Create node to interface with these sensors

      • Convert zed point cloud data to laser scan format (for SLAM)

    • XML behaviour tree

    • Pass waypoints for autonomy navigation

FW Tasks

  • ODrive

    • Integrating Netzer encoder support with ODrive firmware