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Jonny Boi (official name: Jetson Orin Nano), is the mini-PC that runs most software in the rover. The rover also contains some software in the microcontrollers, which are responsibility of Embedded. Jonny and all microcontrollers are connected through a switch...

Work on this subsystem has not started yet

Bookstack is the wiki that you're currently looking at. It's been deployed on the VPS in Docker Compose, inspired by the semi-official LinuxServer.io template. Authentication is wired up to our Google Workspace.

Prerequisites All development happens on Ubuntu 22.04 (Jammy Jellyfish). If you are running Windows, the easiest way to install it is through WSL2. If you prefer to work in Docker, you can use image docker.io/osrf/ros:humble-desktop-full. You need to have a ba...

Architecture and ERC tasks ArUco marker During the navigation task, there will be some landmarks of note that the rover can use to establish its position relative to the Mars Yard. These landmarks will be identified through fixed wooden poles that dis...

This subsystem is still in experimentation phase and WILL change. The autonomous navigation of the rover is supported by the use of an Intel RealSense D435i depth camera. This sensor provides synchronized RGB, depth, and inertial measurements (IMU), which are ...

Communication is a subsystem responsible for bridging the two distinct networks present on the rover: the Ethernet Network and the ROS2 Network. Without it, Jonny Boi (the Jetson Orin Nano) would have no way to talk to the hardware microcontrollers or the Base...

Screw off the skirtPlug in the batterySelect test mode (7th switch OFF)BootRobot number on the screen matches its skirtIf not, enter correct number in binary in the switches 0–3Click OKSelf Tests → System Test → System TestWheels rotate smoothly and forcefully...

This section is under construction until we define more things for computer vision with YOLO.

The computer vision subsystem of the rover is utilized in the Navigation, Surface Sampling and Maintenance Tasks of ERC. It is accomplished through the use of the rover cameras: Gripper camera (digital Arducam), Bottom chassis camera (digital Arducam), Front c...

This page explains rules that apply to all protobuffers, and a bit on how we use them. PBEnvelope All protobuffers are wrapped in the PBEnvelope message, which contains metadata we need in all protobufs. Lost packets & throttling In every line of communication...