In 2018, we wrote a comprehensive whitepaper explaining our groundbreaking work to introduce ROS to FRC. This year, we learned from last year’s mistakes and challenges to write better code: code that was effectively organized for automation and took advantage of more of what ROS has to offer. We also made the huge step of transfering some CAN reads and writes to our NVIDIA Jetson TX2, requiring the setup of a second hardware interface. This whitepaper covers the biggest improvements that we made this year.
We also spoke at ROSCon, an international ROS conference in Madrid, and gave a presentation on ROS for FRC at the FIRST Championship Houston event. More details on ROSCon can be found here, and the Houston video will be published eventually.
As for our current projects and future work, we’ve started a partnership with AWS RoboMaker to test their software for FRC use with ROS. We’ve been developing more accurate odometry, more resilient path planning, and smarter code automation. We’re also excited to work on some analysis of the data we record every match, hopefully making it easier to identify and debug problems in hardware and software.
Thank you to the programming mentors who supported us during our antics this year and were invaluable to our improvements. Thank you to FIRST, whose rule change made it possible to run hardware code off of the Jetson for the first time. And thank you to the NCSSM Foundation, CTRE, NVIDIA, Kauai Labs, WPI, VMWare, GitHub, and many others, who provided us with sensors, supplies, and support this year!
You can find our released code for the 2019 build season here.