This repo houses the ROS2 - Humble workspace for our submission in the 2024 NASA RMC (Regolith Mining Competition)
The source code of the project follows this structure:
LunaboticsBurm <--- Root of the ROS2 Workspace
├── launch
│ └── launchfile-1.xml <--- ROS2 launch files with custom parameters
└── src <--- ROS2 Packages
├── ROS2-Package-1
│ ├── arduino_files <--- Microcontroller companion code
│ │ ├── platform-1 <--- Platform.io project parent directory
│ │ │ ├── include
│ │ │ ├── lib
│ │ │ ├── platformio.ini
│ │ │ └── src
│ │ │ └── main.cpp
│ │ └── platform-2 <--- Platform.io project parent directory
│ └── ROS2-Package-1 <--- ROS2 Package source code
│ ├── node1.py <--- ROS2 Node
│ └── node2.py <--- ROS2 Node
└── ROS2-Package-2
- arduino_serial_package - This package is responsible for communicating with various microcontrollers over serial. This includes drivetrain and linear actuator signaling
- teleop_input - This package contains modified teleop_twist nodes for the specific functional requirment of the robot
The setup for each node and Arduino program is documented in each respective README file.
- For nodes, this is found at the package level.
- For Arduino files, this is found at the project level.