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

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