Software
Perception & Sensing
The Software and Sensing software was developed as the Arthur Perception Package and is stored on github. A high-level software architecture is here. Some other architectures are shown below.
Planning
The Planning Subsystem was developed in the Arthur Planning Package and is stored within the ROS Kortex Package on github.
Controls
The Controls Subsystem was developed in the Kortex Control Package and is stored within the ROS Kortex Package on github. A high-level software architecture of the wrench controller is shown here.
