Jonny Boi
The mini-PC running in the rover
Overview
Jonny Boi (official name: Jetson Orin Nano) is the mini-PC that runs most software in the rover. ...
Getting Started
Prerequisites All development happens on Ubuntu 22.04 (Jammy Jellyfish). If you are running Windo...
Business Logic
Computer Vision
Overview
The computer vision subsystem of the rover is utilized in the Navigation, Surface Sampling and Ma...
ArUco
Architecture and ERC tasks ArUco marker During the navigation task, there will be some l...
YOLO
This section is under construction until we define more things for computer vision with YOLO.
Path Planning
Rover Communications
Overview
Communication is a subsystem responsible for bridging the two distinct networks present on the ro...
UDP Forwarder and ROS2 Publisher
udp_forwarder_node.cpp This is the main file running the communications logic on Jonny Boi's side...
Protobuffers
What are Protobuffers? Protocol Buffers (Protobuffers or protobufs) are Google's binary serializa...
PBEnvelope
What is the PBEnvelope? The PBEnvelope is a wrapper message defined in components/common/envelope...
Integration with ROS2
Overview The Communications node bridges the gap between raw UDP/protobuf packets and the ROS2 ec...