Terra

Terra contains all the code that is part of a ROS codebase and implements the brains of our devices. This main branch contains the current fully integrated and tested functionality for the rover.

Current Functionality

RoverNet: cmr_rovernet

• Description: CMR controls stack (Jetson ↔ ECE) for arm control, drives control, and ECE feedback.

Controller Input: cmr_controller_remote

• Description: PS5 controller input reception for data sent by team laptop over UDP.
• Flow: Controller → Laptop → Jetson → cmr_controller_remote → cmr_rovernet.

Arm URDF Data: cmr_arm_sim

• Description: Hosts the Rover Arm's URDF for our Inverse Kinematics algorithms.
• Additional: Includes a launch file to visualize the arm: display.launch.py.

Arm Inverse Kinematics: cmr_arm_simulator

• Description: Contains the ROS2 MoveIt configs and basic launch files to implement IK for the rover's arm.

Arm PS5 Controller Control: moveit_servo

• Description: Initializes the IK algorithm, takes controller data from cmr_controller_remote, and outputs arm joint positions/velocities to cmr_rovernet.

Fabric Nodes: cmr_fabric

• Description: Custom nodes with better fault handling and configuration management.
• Features:
  • Launch ROS nodes using a config folder with TOML files.
  • Avoids manually launching each node.
  • Example: rovernet.launch.py and the config folder in cmr_rovernet.

IMU Input: cmr_imu

• Description: Pulls data from WitMotion's HWT905 IMU and feeds it into an IMU topic for other packages.

Custom Messages: cmr_msgs

• Description: Contains and initializes custom message types for CMR-specific node-to-node communication.

C++ Utility Functions: cmr_utils

• Description: Custom functions to simplify C++ ROS2 development (not used much anymore).

Camera Integration: cmr_cams

• Description: Contains the functiaonlity for using the Rover's cameras

TODO Functionality

• Autonomous Navigation: cmr_navigation
• GPS Functionality (inside of cmr_navigation in old main, gps.py)
• Arm Autonomy
• ArUco Tag Detection
• Drives Simulation
• AruCo Tag Navigation (Spiral Algorithm)
• Bird's Eye View
• Obstacle Detection: cmr_obstacle_data
• Drives GUI: cmr_param_gui
• Improved camera integration