2024 Projects - umrover/mrover-ros2 GitHub Wiki

Perception

• Long range ArUco tag detection
• Object detection
• Surface normals costmap
• Spatial mapping for teleop
• Lander auto-align

Navigation

• Approach Target Base State
  • Second Camera Navigation Integration (LongRangeState)
  • ApproachObjectState
• Obstacle Avoidance
• Adaptive pure pursuit
• URC vs. CIRC switch

Localization

• Real-time kinematic positioning
• Dual GNSS Heading
• IMU Setup
• Tip Detection

ESW

• Hardware accelerated and robust camera streaming
• Brushed motor controller STM
• Brushed motor controller ROS
• Brushless ROS
• Science controller STM
• PDB STM

Teleop

• Convert to Django
• 5dof IK