The scope of work to transform a non-autonomous UGV into an autonomous one will vary depending on the exact hardware capabilities and software interfaces of the UGV. Development work will be required by Clearpath Robotics, the end user, or a third party developer to bring the UGV into compliance with the requirements listed in the table below. This may involve implementing encoders and controllers to provide velocity control of the UGV and implementing a CAN bus to ROS interface with kinematic control. The table below provides a general outline of the requirements; the detailed requirements are covered in the following sections.
Navigation hardware and software general integration scope of work
|Convert UGV to drive by wire
|If required; can be a significant electromechanical integration
|Implement actuated steering and throttle control if necessary
|Implement the encoder and controller hardware to provide wheel velocity control and odometry feedback
|May require electronic power steering position feedback and controller
|Create a ROS interface
|Commission an OutdoorNav computer running Ubuntu 20.04 and ROS Noetic
|Create a ROS interface to the UGV Often interfacing via CAN bus motor controllers and UGV controller
|Create a ROS driver including UGV kinematics with ROS-control
|Accepts velocity input, commands motor controllers, provides other status feedback
|Install and configure OutdoorNav Hardware and Software
|Install OutdoorNav computer and sensors on the UGV
|Provide mechanical mounting, power and ethernet communication to UGV computer
|Install, update and configure OutdoorNav Software on computer
|Configure for sensor mounting locations, UGV kinematics and data topics. Can be done remotely with assistance from Clearpath Robotics Engineering. Approximately 1-2 days.
|Tune the path planning and following controllers for new UGV
|Can be done at a Clearpath Robotics facility. Can often be done at end user facility via remote login from Clearpath Robotics Engineering. Approximately 2-5 days.