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Merge pull request #13 from WATonomous/rover_quests_w25
Rover Questbook W25
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‎pages/quest_books/w25_rover_quests.mdx‎

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# Rover Quest Book - Winter 2025 (W25)
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## The Great Objective: Autonomous Navigation for the UWRT Rover
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The WATO Rover Team is helping build the autonomous navigation system for the UWRT's [URC 2025](https://urc.marssociety.org/home/requirements-guidelines) rover.
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## Term Objectives Summary
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The objectives for Winter 2025 focus on integrating UWRT's existing modules with the WATO Monorepo/watod infrastructure, as well as building out the autonomy software using nav2.
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1. **Point Cloud Generator**:
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- Create a point cloud using the IntelRealSense D435 cameras and the RealSense SDK, and publish the point cloud message to Nav2 for Costmap Generation, and localization.
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2. **Object Detection**:
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- Using camera feeds to generate field relative poses for mission-critical objects.
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3. **ArUco Marker Detection**:
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- Using camera feeds to generate field relative poses for ArUco markers.
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4. **Behaviour Tree**:
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- Using the Behaviour Tree to plan the navigation of the rover.
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5. **Nav2 Integration**:
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- Use sensor data from rover to plan and control the rover.
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- Use the rover's odometry to plan and control the rover (costmap, localize, plan, and control).
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6. **Simulation**:
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- Generate rover URDF and TF tree.
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- Gazebo simulation for both the rover and desert environment.
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### Term Objectives and Scoring
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1. **Point Cloud Generator**
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| Score | Criteria |
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|-------|-------------------------------------------------------------------------|
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| 10/10 | Rover is able to reliably generate and publish a point cloud to Nav2. |
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| 5/10 | Rover is able to inreliably generate and publish a point cloud to Nav2. |
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| 0/10 | We were not able to meet the above goals |
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**Minimum Requirements:** Rover is able to inreliably generate and publish a point cloud to Nav2 for a score above 5/10.
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2. **Object Detection**
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| Score | Criteria |
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|-------|-------------------------------------------------------------------------|
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| 10/10 | Rover is able to accurately detect and publish goal pose for Object. |
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| 5/10 | Rover is able to inaccurately detect and publish goal pose for Object. |
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| 0/10 | No progress. |
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**Minimum Requirements:** Rover is able to inaccurately detect and publish goal pose for Object for a score above 5/10.
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3. **ArUco Marker Detection**
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| Score | Criteria |
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|-------|-------------------------------------------------------------------------|
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| 10/10 | Rover is able to accurately detect and publish goal pose for ArUco marker. |
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| 5/10 | Rover is able to inaccurately detect and publish goal pose for ArUco marker. |
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| 0/10 | No progress. |
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**Minimum Requirements:** Rover is able to inaccurately/unreliably detect ArUco marker but not publish goal pose for a score above 5/10.
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4. **Behaviour Tree**
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| Score | Criteria |
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|-------|-------------------------------------------------------------------------|
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| 10/10 | Rover is successfully able to navigate to any goal autonomously. (Object, ArUco, or GNSS Waypoint). |
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| 7/10 | Rover is able to navigate to one of the goals, but is not able to switch between them. |
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| 4/10 | Rover has a basic behaviour tree set up but is not able to navigate to any goal. |
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| 0/10 | No progress. |
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**Minimum Requirements:**: Rover has a basic behaviour tree set up but is not able to navigate to any goal for a score above 4/10.
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5. **Nav2 Integration**
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| Score | Criteria |
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|-------|-------------------------------------------------------------------------|
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| 10/10 | Rover is achieve all mission goals. Costmap, localization, planning, and control all work together and fully implemented. |
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| 7/10 | Rover is able to navigate to all mission goals, but slowly/slightly illegally. Costmap, localization, planning, and control work together but not fully implemented. |
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| 4/10 | Rover is unable to navigate to all mission goals. One more more aspects of Nav2 not implemented. |
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| 0/10 | No progress. |
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**Minimum Requirements:** Rover is unable to navigate to all mission goals. One more more aspects of Nav2 not implemented for a score above 4/10.
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6. **Simulation**
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| Score | Criteria |
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|-------|-------------------------------------------------------------------------|
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| 10/10 | Accurate Gazebo simulation for both the rover and a desert-like environment. |
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| 7/10 | Accurate simulation for the rover but not the environment.
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| 4/10 | Basic simulation for an example rover with our sensors, but not accurate to our actual rover. |
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| 0/10 | No progress. |
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**Minimum Requirements:** An accurate simulation of the rover for a score above 7/10.
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## Scoring Template
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| Quest Name | Description | Due Date | Score |
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|------------|-------------|----------|-------|
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| Point Cloud Generator | Create a point cloud using the IntelRealSense D435 cameras, and publish that to Nav2 for Costmap Generation, and localization. | 2025-03-31 | |
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| Object Detection | Using camera feeds to generate field relative poses for mission-critical objects. | 2025-03-31 | |
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| ArUco Marker Detection | Using camera feeds to generate field relative poses for ArUco markers. | 2025-03-31 | |
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| Behaviour Tree | Using the Behaviour Tree to plan the navigation of the rover. | 2025-04-25 | |
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| Nav2 Integration | Use sensor data from rover to plan and control the rover. | 2025-04-25 | |
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| Simulation | Create URDF and TF tree for the rover, get Gazebo simulation running. | 2025-03-16 | |

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