Perception
The code for planning can be found inside regpipe.
The ROS wrapper of it can be found inside regpipe_ros.
Planning
The code for planning can be found inside tekkneeca.
Drill
The code to power on/off the drill can be found inside autonomous_drilling.
Dynamic Compensation
![](https://mrsdprojects.ri.cmu.edu/2024teame/wp-content/uploads/sites/78/2024/05/mpc-2-1024x417.png)
The Dynamic Compensation module is still a work in progress, and a high-level software architecture of the Model Predictive Control is shown here. This module was developed upon OCS2 ROS2 and can be found in 16-745_OCRL_Project.