This week I worked on setting up ROS, SLAM, and the local path planning algorithm on the Raspberry Pi. I successfully installed ROS2 Jazzy Jalisco on the Raspberry Pi. For the SLAM and local path planning, I ran into the problem that our previously chosen software of Hector SLAM and TEB are not compatible with ROS2 but only with ROS1, which has been deprecated and thus cannot be used. So, I found new software that works with ROS2 Jazzy Jalisco. For SLAM, I will be using SLAM Toolbox and for local path planning I will be using Nav2. I have begun setting up this new software with the Raspberry Pi.
I am still a little bit behind schedule since I had also wanted to connect and test the Lidar scanner with the SLAM algorithm by this point. To get back on schedule I plan to finish setting up the new SLAM and local path planning algorithms over the weekend and also do the Lidar scanner test over the weekend, so that I can spend time next week on the next steps. By the end of next week, in addition to setting up the SLAM and local path planning and testing the Lidar scanner, I also plan to finish integrating these with the robot controls so that we can do a full test of the system before the live demo.