This week, I focused on researching and setting up initial code for the robot communication infrastructure. I built some sample communication code for ROS2 and set up a Ubuntu Linux Docker environment to run the sample code. The sample code currently sets up a skeleton for P2P communication over ROS2, but from my experimentation, ROS2 should have a library already for the complex communication we need, so we do not need to build everything from scratch.
The progress is on schedule, next week I will be working with Kevin to integrate a distributed SLAM implementation into our ROS2 infrastructure.