Primary goals for this semester:

Create a working drivetrain system using the CAN
Develop a redundant communication system between the Base Station and the Jetson
Determine a workaround to allow Jetson to run on Ubuntu 22.04
Update the Gazebo rover model to allow for more accurate autonomy testing
Basic autonomy functionality, including designing/modifying architecture, multisensor data fusion, SLAM for path planning, etc

Task List

Jetson Setup and Software Update
- Ensure the Jetson is properly configured.
- Update it to run the preferred version of ROS2 and other required software.
Debugging Jetson Base Station Communication
- Identify and fix communication issues between the Jetson and the base station.
Drivetrain CAN Interfacing Finalization
- Finalize the setup and testing of the drivetrain CAN interface.
User Interface for Base Station Controller
- Develop a module that takes sensor data from the rover and displays it.
- Create an interface to allow a human operator to control the rover remotely.
Simulation Improvement
- Enhance the current simulation to better mimic the competition environment.
- Create specific simulation worlds for testing individual rover functions.
Autonomy Setup and Navigation
- Set up basic autonomy for the rover, including Nav2.
- Troubleshoot Nav2 issues, with potential ROS version updates if needed.
- Gradually integrate target tracking and custom autonomy features.
GUI Update for Driver
- Update the basic GUI for the driver.
- Focus on improving image transport functionality.

Timeline

Now - Sept 30:

Oct 1 - Oct 31

Oct 31 - End of Term (This will be refined once other tasks are complete)