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Introduction

Control Board Microcontroller IMU ESCs Speed commands Jetson Docker ROS2 Daemon ZED node Processed data Rust program Processed data Movement commands Sensor data Manipulation Systems Board Dropper Grabber Torpedoes Power to magents/actuators High level action commands Bottom Camera Raw camera stream ZED Camera Raw depth camera data

What does the aquapack software team do?

  • The aquapack software team handles the decision making of the robot through the control board and Jetson.
  • The competition aquapack competes in is RoboSub and the challenges for this competition are all automated, as such there are no inputs sent to the robot during its run. Writing functional code for the missions is very important.
  • In Summary The code makes the robot do things.

What languages and tools are used?

  • The Rust programming language for implementing high-level logic
  • Computer vision
    • YOLO (You only look once) for model based object detection
    • OpenCV for classical computer vision
  • ROS2 (Robot Operating System) to communicate with peripherals

How can I get started?

Continue to the next chapter, or jump straight to the Rust installation instructions