This week, we made significant progress on system integration and hardware assembly. All components were successfully mounted onto the car chassis, resulting in a fully integrated platform. We implemented and validated obstacle avoidance, enabling the system to safely navigate around objects while moving toward the user. In addition, I developed an emergency stop and resume feature, allowing the system to halt immediately when needed and continue operation smoothly. The motor subsystem was thoroughly tested, confirming reliable movement in multiple directions, including forward, backward, lateral shifts, and rotation. Overall, the system is now functioning as a cohesive unit with core mobility and safety features in place.
During this process, I had to quickly learn several new tools and concepts, especially related to ROS2 integration, hardware-software interfacing on Raspberry Pi, and sensor-based navigation logic. I relied heavily on practical learning strategies such as reading official documentation and debugging through trial and error. I also used tutorial videos and example projects to understand system integration patterns. This hands-on, iterative approach was very effective, allowing me to rapidly identify issues and apply solutions directly to our system.