Comunication diagram

Wireless comunication is key as it enables more fredome. This diagram shows how the 3 main parts of the system comunicates

• Development machine: this computer is durable and can hangle large amounts of heavy calculations. The machine will be used for SLAM, simulation, debugging and other diagnostic tasks.
• Raspberry pi: This is a tiny computer (other small computers can be used). The raspberry pi runs ROS and handles the main part of the ROS program. The pi (Raspberry pi) can handle SLAM and autonomus driving.
• ESP32 WROOM32: This is a 32 bit microcontroller and can be programed using C++. The microcontroler has peripheral components capable of completing a large range of tasks. This gives a good basis for early development, as the controller has hardware for almost every task and some capabilities for brute forcing other tasks using the cpu.

video of the Robot driving in Gazebo

The robot can be controled using a gamepad keyboard or autonomusli wolowing a path based on a map.