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:
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Python high level ROS application (Jetson Nano)
- Arm kinematics
- Base station communication
- Camera control
- Drive base kinematics
- Perception
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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.