Work Completed this Week:
This week, I moved from architecture planning to building out the navigation software. I implemented the initial frontier based exploration algorithm that uses an occupancy grid to identify unexplored regions and select exploration targets for the rover. I also began building the ROS interface for the exploration layer. Initial navigation has been merged to the team’s repo.
I also spent time working on the design review report, working on the use case requirements and design requirements sections.
Schedule Status:
I’m on schedule. I was supposed to start on implementation, which has been done. Full rover integration is will only begin at the end of this month.
Deliverables for next week:
Testing the exploration software with ROS2 and connect it to a simulated navigation pipeline. I will also begin debugging the interaction between the SLAM generated maps, our exploration logic, and Nav2.