General

• Ubuntu 22.04 Jammy

• ROS2 Humble

Subsystems

Drivetrain

Rover:

• CAN Wrapper

• Hardware Interface

User Contol:

• Xbox Contol

  • Arcade Drive

  • Speed Ramping

  • Close loop control (PID speed controlling, Encoder feedback loop)

Arm

• New hardware interface

  • for ROS2 Control

• CAN Wrapper

  • Likely will be the same as the drivetrain

• Inverse Kinematics

  • move it 2

• Closed Loop feedback for motor positioning correction

  • move it

• End effector Control

  • move it

• Camera Feed

Gimble (

• Swivel control

• Camera

• Panorama image creation

Science (if possible)

• Motor Control for collection → CAN

• Read test results → low priority

Comms (possible to upgrade)

• Ros2 Msg Transmission Jetson <---> Base Station Computer

  • RWM Implementation Selection

• Jetson <---> Microcontroller Communication

  • CAN

Autonomy

• Obstacle Avoidance (depth camera → cost map creation)

• Object Detection (cameras)

  • YOLO (v5-v8) fine-tuning on specific images

  • size of model

  • might need something more lightweight

• Abort Objective & Autonomusly return to the previous waypoint.

• Mission Status

  • LED Control

  • Conformation to the base station

• ARUCO Tag reading

  • used for pose estimation

  • detect they are there and understand what to do if they see more than one

• GNSS Waypoint Path Planning

  • navigate to pose behaviour tree

GUI

Idea to start

• camera feed

• where we have gone

Robot Information:

• Multiple camera feeds of the rover

  • start with one

• Velocity information

  • cmd vel

  • can get encoder info from HW interface

    • need to publish this to a topic if want to use

• GNSS coordinate of robot

  • vector nav

• IMU info for orientation of the robot

• Google Maps-like interface to view robot location in space (use open maps)

Science Information:

• Soil test results

• Panoramic Image view

User Inputs:

General:

• Switching between Autonomy, Teleoperation (drivetrain + arm)

  • ROS2 service → state control

    • state machine that controls state of the rover

    • vs behaviour tree

Path Planning:

• Waypoint Inputs

• Next waypoint selection

Autonomy:

• Abort Objective

• Go to the previous waypoint

Science:

• Collect soil sample

• Soil testing

Sensors

• Vector Nav (IMU + GPS positioning)

  • possible differential GNSS

  • two antennae both connected to vector nav

  • RTK look into

• Cameras/Depth Cameras

  • look at sim for FOV

  • start with one then iterate

• Gimble Camera

AUX

• LED matrix control

• Fan control

  • ROS2 Command → Microcontroller running PWM