Basic Rover - Software¶

Link to module repo: Basic Rover Software

Overview¶

The basic rover comprises two steered wheels of type ost23. It further has a GNSS receiver input and can be controlled by ... The rover can alternatively be remotely controlled by a FrSky Taranix X7.

The architectural setup follows the system given under architecture overview. The lower level system with EEROS/PLC has the following structure.

The control system has three timedomains running with different periods as shown in the figure.

The safety system is as follows.

Upon powering up the system will stay in safety level idle. As soon as the remote control starts sending twist signals or twist signals are received from ROS, the wheels will be enabled and the rover starts moving. When either inputs stops receiving signals the wheels are disabled and the system returns to safety level idle. If the rovers runs receiving twist messages from ROS the remote control can immediately take over. However, when the remote control stops the system will always return to idle before it could possibly be controlled by ROS again.

Emergency Stop¶

The emergency button is directly connected to the drives. At the same time it is read in by the control system as a digital input. It is used to immediately switch to safety level emergency when activated. The rover will leave the emergency level as soon as the emergency button is released. The system will return to idle state.

The higher level system ... TO BE DONE