March 14
My current idea:
- Get raw data from sensors (RealSense, LiDAR) and publish them to ROS topics.
- Run a policy node that uses the camera image, depth map, IMU data, and LiDAR scan to auto-navigate.
- Attach a power-measuring device to the battery.
- Tweak CPU frequency, offload edge computing, and log the data.
What I did today: I spent some time wrestling with mixed dependencies between my Python virtual environment and the system-installed ROS 2 Jazzy. I also struggled to find my running ROS nodes, only to realize I just needed to run ros2 daemon stop to get them listening to each other.
After sorting out those dependency headaches, I successfully got the RealSense color image and depth map working:
Armed with a better understanding of the setup, getting the RPLIDAR A2M8 running was fairly quick:
So right now, I’ve got the raw sensor data successfully publishing via ROS topics!
Tomorrow’s Plan: I plan to dive deeper into researching the hardware setup, specifically focusing on the power supply for the RC chassis.
Stay tuned!