ISF Rover Bringup Documentation¶

Link to module repo: isf_rover_bringup

Overview¶

The ISF Rover Bringup package is the central orchestration point for the ISF rover system. It coordinates the startup and integration of all essential rover subsystems into a unified autonomous platform.

Key Subsystems¶

• Global Navigation Satellite System (GNSS): Provides absolute positioning via u-blox dual-band DGNSS receiver
• Coordinate Transformation: Converts between WGS84 (global) and LV95 (Swiss national) coordinate systems
• State Estimation: Fuses odometry and GNSS measurements for robust localization
• Path Planning & Control: Generates and executes feasible trajectories for ground-based navigation
• Coordinate Frames: Manages TF2 transform hierarchy for all rover frames