Keshav Sangam’s Status Report for 4/2

This week, I worked on getting the Jetson to send instructions (in the form of opcodes) to the iRobot in order to get it to move. To do this, we have to publish linear and angular speed messages to the command velocity ROS topic. From there, we build a driver to convert these speed commands into opcodes that tell the iRobot how to move. I forgot to take a video, but this will be demo’d on Monday. The next step is creating the path planning algorithm so that these command velocity messages can be published by the path planning (and hence become autonomous), rather than the current method of a keyboard-teleoperated iRobot.