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**Theme** Each sub-team produces a "Draft V1" of their component **Goal** Deliver a minimally complete simulation environment that allows manual robot control and publishes consistent, physically plausible sensor data (LiDAR, IMU, odometry). This simulation must be sufficient for navigation, sensor fusion, and control teams to begin development and validation. **Key Sub-tasks** - Sim: 1. Create URDF with accurate physical dimensions 2. Build the maze field according to competition requirements 3. Add LiDAR and IMU plugins to verify data flow - Path: 1. Research and compare tradeoffs between different navigaton algorithms 2. Evaluate existing open-source robot sims as a temporary stand-in (compatible with our Gazebo version) 2. Gain familiarity with Nav 2 - Sensor: 1. Prepare the filter logic and drivers - Motor: 1. Decode motor information and control motor with motor + encoder + MCU (microcontroller) setup 2. Comms protocol - define message format between OBC (on-board computer) and MCU **Deliverables** - Sim: 1. Draft robot URDF 2. Build the maze field according to competition requirements 3. Add LiDAR and IMU plugins to verify data flow 4. Documentation - Path: 1. Navigation algorithm comparison documentation 2. Recommended robot sims 3. Draft nav2_params.yaml 4. Python Task Manager script - Sensor: 1. Draft ekf.yaml configuration (or similar) 2. Covariance assumptions 3. Test setup that publishes fused odometry 4. Documentation - Motor: 1. Read motor speed and postion 2. Documentation
Due by January 31, 2026•0/3 issues closed