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We would need to separate the high level and low level components
This is kind of already happening though, with the creation of LOS. Which is why I think its the perfect time to move to ROS (or next comp, but this year)
porting it all to ROS
only have to port over high level components
High level components are already in cpp, so really we just need to take the code and paste them into ros packages, write some launch files, and figure out what topics we want. It’s more discussion and planning rather than coding to be honest.
We would need to write a relay node to convert ros topic data to UART or I2C and send to zp board.
need to change our zp - jetson comms (but I think we’d need to change them anyway so Its fine.
I think we could use the compiled ros messages for the fw, I’ve seen it work
Components
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PM
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AM
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TM
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Nodes
/path_manager
Subscribes To:
/Telem/GroundSideComms/Waypoints
Publishes To:
/PathManager/AttitudeCommands
AM
telemetry_manager
/GroundSideComms
/LosRelay
subscribes to:
publishes to:
/Telem/LOSRelay/Odometry
System Manager
CV nodes
Nodes for interfacing with cameras, sensors attached to jetson