Short term goals

Cameras

• Select the number of cameras and their positions on the rover.
• Create a rqt perspective with a layout for the cameras (all or some, think about antenna bandwidth)

Motors

• Bring back the capacity to control each wheel in a fine way using customizable gains for each wheel (check ZEUS' implementation of twist2motor_cmd.py)
• Fix the failure that sometimes happens when launching the motor_drivers.launch file, which can be fixed by a restart of this launch file.

Watchdog and heartbeat

• Bring back the watchdog from the old Rovus code and integrate it with the new motor control system.
• Bring back the heartbeat
• Add both to launch files

GPS

• Select a position for the GPS
• Select a new GPS, maybe
• Integrate the GPS (launch files, odometry, tf, antenna control, etc.)

URDF and simulation

• Find a way to convert an OnShape assembly to a URDF
• Update the URDF with the new rover shape and sensors
• Update the simulation launch files and test the simulation

Long term goals

• Migrate to ROS2
• Implement elements from this guide.