Summary of software to hardware communication for the science system:
The science system will be using a microcontroller(s) to control to motors for the science platform and read data from sensors.
A CAN transceiver will be attached to these microcontrollers so that they can be communicate over the CAN bus.
The electrical team and programming team will need to work together to set a standard communication protocol for controlling each part of the system.
A ROS node will be running on the Jetson. This node will act as a server for the science system, as well as be requested to publish live data from the science sensors.
A ROS node acting as a client will be able to make requests to this server, and listen to this live data.
Summary of software to hardware communication for the science system: