Fausto’s Status Update [04/24/2021]

This week I worked on converting the Bluetooth communication code between Autovots into ROS code. I created new packages specific to client-side and server-side communication and tested the ROS nodes with two Jetson Nano boards. Previously I had gotten the Bluetooth connection set up and enabled communication across board but this week , I integrated the communication code into ROS in order to begin integrating communication with other components of our project (such as object detection and planning). At first, I sent arbitrary coordinates across Autovots and made sure connections were being setup properly and data was accurately being sent. Then, after debugging ROS mechanics, I created MapUpdate messages and made the server-side node a subscriber to a ‘map_update’ topic which calls a function to send map updates to the client. The client then receives the data through Bluetooth and publishes newly acquired map information to another ‘map_update’ topic.