Hitting Ctrl-c after rosrun gravl Hemisphere does nothing. Probably just needs an exit condition in the code.

Figure out if udev rules could make connecting to the Teensy and GPS nicer

Refs:
https://www.clearpathrobotics.com/2015/01/udev/
http://www.clearpathrobotics.com/assets/guides/ros/Udev%20Rules.html

Currently, S1 cannot switch to S2 without disactivating the tractor. Add info to state msg regarding whether or not to disactivate when switching.

Upon turning on electronics, Tractor turns over but does not start

Tractor cannot turn wheels in place due to friction with ground. Motor shaft strips instead.

http://www.umiacs.umd.edu/~cteo/umd-erratic-ros-data/README-rvis-remote

Currently, Circle Drive publishes to /autodrive. It needs to be refurbished to become a behavior and published to the correct part.

gravl package currently contains a TwistLabeled msg. Convert all gravl to use TwistLabeled from the state controller instead to standardize

Need to determine what flashing red light should mean, then update hind_brain.ino to reflect this

Create new launch file simulation.launch for running Amy's simulation of the tractor.

Get the Lidar online

I think the culprit was the lidar

Possible investigative angles:

• Use gdb to step through code and see where it segfaults.
• Use top or htop to monitor computing statistics and see which process eats everything up.

There are scripts named GPS, GPS Navigation, and GPS Navigation Node. Make one good or delete all and make a new one.

• Change name to match other launch files
• Call bringup.launch rather than separately launch all files
• Document launch file in README.md
• Update outdated calls (State.cpp, tractor pkg)

Teensie sometimes loses connectivity and tries to restart, but always fails.

File 1

• Tractor/src/tractor/hind_brain
  
  Estop class needs to be added

File 2

• Tractor/src/tractor/hind_brain/hind_brain.ino
  
  Estop subscriber needs to be added, and Estop relay needs to be activated

Need somewhere documenting high level tractor design for people to review. Probably pretty important.

Calibrate the arduino so that the software steering angle maps to the physical angle.

Hemisphere /gps/fix and /heading show up in rostopic list, rostopic echo /heading or /gps/fix is blank.

Actually measure the physical distances for the transforms within localization.launch

When Teleop or Safety overwrites the tractor state, the state index doesn't change for joystick state switching.
Ex: If tractor is in state 6 and safety activates, setting the state to 0, upon re-activating and attempting to switch to state 1, the tractor instead switches to state 7.

Can only connect to hind-brain once. Fix.

Somebody cut the USB cable on the thermal camera cable to make it "better" for drones. We need to figure out how to get a new one or attempt to repair it.

Probably using static members like this: https://www.tutorialspoint.com/cplusplus/cpp_static_members.htm

Extensively test control system; document errors. They are there, trust me.

File 1:

• Tractor/src/tractor/hind_brain
  
  Add blinking light class OAK

File 2:

• Tractor/src/tractor/hind_brain/hind_brain.ino
  
  Activate blinking light when autonomous system activated

• Document using README.md
• Update package name (tractor -> gravl)

We need something to make sure the Teensy doesn't time out, there's an Arduino watchdog program that should work. (link)

Re-add control of 3 point hitch actuation

RoboClaw quickly builds up large chain of commands introducing latency into the system. Break up sent commands into small fast chunks to allow for faster response time, since commands will finish executing more quickly.

Document the wiring and modules in the Mid-Brain box at the back of the tractor.

Ackermann Steering platform needs Teensy, full wiring, power, and documentation. Also, we need to know what the hell we want it /for/.

Create a set of udev rules for the Hemisphere GPS so it can be easily referenced in a launch file

Necessary to draft a document with defined standards and basic pipeline instructions for collecting, storing, and naming datasets such that larger datasets for future machine learning, analysis, and other projects can be easily collated and used.

Actuators do not receive power or signals from RoboClaw regardless of state of Teensy or power.

ekf_localization_node not properly working, only getting odom data from 1 source (IMU), needs 1 more source.

Tractor keeps moving if usb cable is disconnected.