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

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.