Implement Localization/Mapping

[aerin-brown-codes]

Implement the localization and mapping algorithm described in design review

[aerin-brown-codes]

Note: We anticipate having problems with computational power since the jetson is,,, the jetson. Take a look at offloading onto the base station. You can also look at CUDA programming, though that might be more applicable to perception, not sure.

[aerin-brown-codes]

Currently available info:

• RealSense Tracking Camera T265
• RealSense Depth Camera D455
• A pair of GPSes that can give you GPS coordinates and our current heading
• Odometry information on wheel speeds (+ voltages, temperatures, etc if you need that for some reason)
• A whole bunch of standard cameras, including one with night vision/pan tilt capabilities

[aerin-brown-codes]

Try using this to write a simple publisher, just replace std_msgs String with std_msgs Float32MultiArray https://docs.ros.org/en/foxy/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Py-Publisher-And-Subscriber.html

[aerin-brown-codes]

You'll find "ros2 topic list", "ros2 topic echo [insert topic here]", and "ros2 topic info [insert topic here]" helpful for debugging if you don't want to deal with RViz