This week, I set up slam_toolbox and Nav2 on the Raspberry Pi. I was able to get both slam_toolbox and Nav2 to run in simulations on the RPi. I also connected the Lidar Scanner to the RPi and was able to get the output from the Lidar Scanner to display on the RPi. In addition to these things, I also worked with Andy in setting up the powering system and the robot chassis. Together we connected the powering system to the RPi and got that working together, and also attached the batteries, motor controllers, and RPi to each other and to the robot chassis. I also wrote an initial version of a script that we can try to use to send instructions from the RPi to the motor controllers.
At this point my progress is mostly on schedule, since I have completed my goals of setting up slam_toolbox and Nav2 on the RPi and testing the Lidar Scanner. However, there is still a lot more that I have to do. By next week I plan to set up the Lidar Scanner and slam_toolbox together so that the output of the Lidar Scanner is used as the input to slam_toolbox, and then use the output of slam_toolbox as the input to Nav2. I also want to complete a test of the system working with the RPi controlling the physical robot.