I mainly worked on setting up the controls aspect of the robot using a raspberry pi 4. I set up Ubuntu on it and ROS1 to test if the library works. There were a lot of setbacks because we were initially using a pi 3 that does not support ubuntu 20.04 desktop because of less RAM and a bunch of extra setup because ubuntu 20.04 desktop isn’t supported by default on a Pi 4 but its up and working now.
In the future we will either use it as it is or port the ros library into the Jetson and change the ros drivers package to be compliant with the jetson hardware.