Software Progress - 2/23/2022

Throughout my time learning how ROS2 provides robust robotics solutions, I have encountered as many successes as failures. The major milestone covered is that we now have a URDF (Unified Robot Description Format) file that accurately represents our rover. Using this file we can clone it into an SDF file using a command provided by Gazebo (simulation software).

Shown below is our rover represented in RVIZ, the visualization tool used in ROS2\

Some thing still left to accomplish as far as covering a full autonomous simulation. I will also continue to meet with the hardware team to make sure our simulation robot accurately mirrors the dimensions and behaviors of our physical rover.