TODO

priority

can-rover ✔️
camera ✔️
ditch docker ✔️
- Starting ROS2 nodes with systemd
nav2
- publish estimate from cmd\_vel
- robot_localization
  - Nav2: Smoothing Odometry using Robot Localization
  - Demystifying Covariance Matrices in ROS 2 Localization
- urdf
- orb_slam2
- ROS2 Nav2 – Generate a Map with slam_toolbox
gps/compass/IMU
- bare minimum, just make them available via ROS2
- black pill with canbus
- track in the future with openstreetmap or something
"main screen" GUI
- rosbridge_suite
  - robot web tools
- fuel gauge node
  - set max with /rover/setWattHours
    - default value should be read from can-rover parameters?
  - show /rover/wattHours in verticalbar graph
    - clamp minimum to zero
  - show estimate of time remaining untill empty
    - wattHours / average watts
- camera
  - web_video_server
    - ustreamer
- WASD controls
solar panels
battery pack
DOMAIN_ID
MK2
- 20 W solar
  - fold out extra panels if needed
- 10 W average power consumption while not moving
- battery capacity for ~1.5 days without solar. 200 - 350 Wh battery
- independent steering and drive on each wheel
- packs into 30x30x30 cm
- ability to climb over a curb. ~15 cm