Lunabotics

The official NASA Lunabotics GitHub repository for University of Minnesota Robotics.

graph LR
    subgraph A[Operator Laptop]
        B[RQT Camera Frontend]
        J[joy_node]
    end
    subgraph C[Robot]
        subgraph F[Nvidia Jetson AGX Orin]
            G[motor_control]
            H[GStreamer NVENC AV1 Encoding]
            I[isaac_ros_nvblox]
            L[ros2socketcan_bridge]
            M[Nav2]
            N[Subsystem ROS 2 Nodes]
            O[rovr_control]
            P[ZED ROS 2 Wrapper]
        end
        D[Arduino Microcontroller]
        K[Limit Switches]
        E[VESC Motor Controllers]
    end
    K --> D
    O <-- Serial Bus --> D
    H -- WiFi Connection --> B
    L <-- CAN Bus --> E
    P --> I
    I -- Cost Map --> M
    M --> O
    J -- /joy --> O
    M -- /cmd_vel --> N
    G -- /CAN/can0/transmit --> L
    L -- /CAN/can0/receive --> G
    O -- /cmd_vel --> N
    O -- ROS 2 Services --> N
    N -- ROS 2 Services --> G

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