Rover Template Actions

[NicolasCB-7472]

Hi, I was marvelled at the Rover! Very good craftmanship! A very complete project! I'll ask this with very little expertise on the matter, even with very little expertise on GitHub. But with the hopes of bouncing ideas and inquiring more about the rover I was wondering, does the rover have template actions?

By that I mean predifined maneuvers that if you trigger it will act in an automonous manner, for example:

-90/180 plain terrain turns
-Dust shaking
-Forward/Backwards jump like

And maybe some more ambitious things such as

-High/low gear mode
-Rollover prevention 
-Rollover recovery (if it does rollover to recover itself)

But I don't want to undermine the hard work the rover has been gone through, it's amazing what has been accomplished and this is just to know it better. Keep up the good work!

[Achllle]

Appreciate the kind words!

It does not! However most folks tend to use SLAM for map creation and localization and the nav2 stack in ROS 2 for navigation on this map. This is relatively straightforward to add on depending on the sensors you want to use. The advantage of this more involved approach is that you can use sensor fusion to get a better estimate of where the rover is, so that when you do something such as command the rover to turn 180 degrees, it can adjust for inaccuracies in slipping and time it takes to turn the wheels and accelerate. This will allow it to turn to any desired angle with high accuracy.

I'd say these templates are useful, but since they're relatively easy to build and heavily depend on what you're trying to do with the rover, we don't prescribe a particular approach.

[NicolasCB-7472]

I see! Thank you for answering! I'll certainly use this project as a reference point to learn about the rover and the systems involved and then possibly about additional tools!

Have an awesome week!
Cheers!