TODO

priority

1. can-rover ✔️
2. camera ✔️
   • v4l2_camera
   • image_transport
   • image_proc
   • monocular calibration
3. ditch docker ✔️
   • Starting ROS2 nodes with systemd
4. 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
5. gps/compass/IMU
   • bare minimum, just make them available via ROS2
   • black pill with canbus
   • track in the future with openstreetmap or something
6. "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

memo

• fork projects into smaller ones
• Bags
  • rosbag_pandas
  • rqt_bag
    • ros1 only
  • mcap
  • rosbag
• GUI
  • rqt plugin
• gazebo
  • Launch Gazebo from ROS 2
• simpleFOC