Rovers

This repository contains the source code for RIT's University Rover Challenge rover.

The software and firmware architecture is broken down into the following components and their respective responsibilities:

• Python high level ROS application (Jetson Nano)

  • Arm kinematics
  • Base station communication
  • Camera control
  • Drive base kinematics
  • Perception

• Embedded Firmware

  • Main Body Board (Teensy 4.1)

    • Drive base control
    • Temperature control

  • Science Board (Teensy 4.1)

    • Soil sampling
    • Flourometry

  • Arm Board (Teensy 4.1)

    • Joint control
    • End effector control

Each board communicates via Controller Area Network (CAN), utilizing the FlexCAN library for Teensy 4.1 and python-can on the Jetson Nano.