2021 Semester 2 Roadmap - Githubissues

SUSF-Robotics-and-Software / phobos_sw

Software for the Phobos rover written in Rust

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2021 Semester 2 Roadmap #31

Open duncanrhamill opened 3 years ago

duncanrhamill commented 3 years ago

Tasks to complete before competition:

Locomotion

[x] MechExec - needed to be able to drive the physical rover, should be flexible to allow commanding of arm as well as locomotion
[ ] Test functionality of locomotion system

Localisation

[x] Decide on new camera setup which allows:
- Streaming low latency video from rover to ground control
- Discrete requests for frames/disparity maps from navigation system
- Continuous feed of rectified images into ORB_SLAM3 for position update
[ ] Implement the above
[ ] Test position accuracy/drift

Navigation

[ ] Point cloud generation and filtering
[ ] DEM calculation
[x] CostMap calculation
[ ] Path planning
[ ] Test navigation capabilities

Ground Control

[ ] Finish web interface:
- [ ] Video streams from cameras
- [ ] Text telecommand issuing
- [ ] Telemetry viewing
- [ ] Controller interface
[ ] Decide on controller map