Achille Verheye

Serial done better

1

Simplified instructions for serial comms setup and switch to using primary serial device (miniUART). Before this PR, the setup caused the serial device chain to look like this: ```text bluetooth...

INA260 support

2

Uses the ina260 library (`pip3 install ina260`) to get current, voltage, power readouts. Add to default launch. - [x] remove existing ina260 code - [x] add dependency on ina260 (doesn't...

v2 of the rover has an [INA260](https://www.adafruit.com/product/4226) that is connected to the Raspberry Pi. It measures power consumption of the rover as well as voltage and so provides very valuable...

## Description Replace our own control code with ros2_control since that's the recommended way to do it, runs fast in c++ and enables using the same interface for simulation systems...

Use diagnostics_msgs/DiagnosticStatus.msg iso custom Status message

4

Currently the message `osr_msgs/Status` contains: ``` int64 battery int64[5] error_status int64[5] temp int64[10] current ``` I propose: * `battery` should have its own topic, with message `sensor_msgs/BatteryState` * `error_status` should...

## Problem statement We currently use [`teleop_twist_joy`](https://github.com/nasa-jpl/osr-rover-code/blob/37b6033e2b718f5a65e54fffdc9d0a01897720c3/ROS/osr_bringup/launch/osr_launch.py#L64) to convert joy messages to Twist messages which allows us to maintain less code and rely on tried and true libraries. However it...

Use C++ roboclaw library or switch to async python

2

A lot of time is spent waiting for communication with the roboclaws. Using an async python library to communicate with them or using threading in either language would alleviate this.

Could also do a script, but a service would allow changing at run-time and within code which is useful.

Don't include roboclaw.py ourselves

3

Instead of duplicating the source for the roboclaw code (`roboclaw.py`), we should clone the [official repo](https://github.com/basicmicro/roboclaw_python_library), perhaps fork it to turn it into a catkin or pip package. This ensure...

Create robot_description package

6

The robot_description package contains the URDF/XACRO files used to represent the robot which is useful for visualization in RViz, running the robot in simulation with Gazebo, and sensor placement.