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Merge pull request #25 from WATonomous/s25_eve_questbook
S25 eve questbook
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‎pages/quest_books/_meta.json‎

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{
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"archive": "Archive"
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"archive": "Archive",
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"s25_eve_quests": "S25 Eve Quests"
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}

‎pages/quest_books/s25_eve_quests.mdx‎

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# Eve Quest Book - Spring 2025 (S25)
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## The Great Objective: Level 5 Robo-taxi Around Campus
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WATonomous aims to achieve a fully autonomous Level 5 robo-taxi capable of navigating the University of Waterloo campus by the end of Spring 2025. This involves integrating hardware, software, and cognition systems to enable decision-making directly within the car. Achieving this milestone establishes the groundwork for advanced autonomous vehicle research and real-world applications.
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## Term Objectives Summary
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The objectives for Spring 2025 focus on integrating hardware, developing software modules, and preparing the platform for autonomous operation.
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1. **Hardware Integration**
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- OSCC boards
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- Sensor drivers
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- Mounts
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- Electrical Safety & Stability
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2. **Software Modules**
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- Perception Stack
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- Local Plan and Controller
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- HD Map and Global Plan
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- Behavior Tree
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- Localization
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---
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### Term Objectives and Scoring
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#### Hardware Integration
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1. **OSCC Boards**
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| Score | Criteria |
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|-------|-------------------------------------------------------------------------|
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| 10/10 | Joystick command passes through ROS2 stack to OSCC → verified motion with hard & soft e-stop systems functional. |
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| 7/10 | One or more OSCC control drivers implemented and verified with test motion (but not all subsystems functional). |
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| 4/10 | Boards are wired and installed; no verified movement or joystick input. |
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| 0/10 | No integration, wiring incomplete or testing blocked. |
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**Minimum Requirements:** Boards are wired and installed; no verified movement or joystick input 4/10.
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2. **Sensor Drivers**
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| Score | Criteria |
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|-------|-------------------------------------------------------------------------|
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| 10/10 | Drivers for all LiDARs, radar, GPS/IMU, and camera implemented, functional, and recorded in rosbags. |
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| 7/10 | Majority of sensors interfaced and tested; partial or intermittent rosbag data. |
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| 4/10 | 3 cameras and 1 Lidar interfaced with static rosbag recording. |
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| 0/10 | No progress. |
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**Minimum Requirements:** 3 cameras and 1 Lidar interfaced with static rosbag recording 4/10.
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3. **Mount Fabrication & Installation**
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| Score | Criteria |
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|-------|-------------------------------------------------------------------------|
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| 5/5 | All mounts (LiDAR mirrors + radar) installed on vehicle and road-tested with weatherproofing in mind. |
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| 3/5 | Partial fabrication/installation completed, or totally completed but not suitable for natural outdoor conditions. |
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| 1/5 | Basic fabrication but no installation. |
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| 0/5 | No progress. |
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**Minimum Requirements:** At least one mount fabricated for a score above 1/5.
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4. **Electrical Safety & Stability**
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| Score | Criteria |
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|-------|-------------------------------------------------------------------------|
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| 5/5 | E-Stops, OSCC, compute rack, top rack and relay wiring fully implemented and enclosed and documented where necessary. |
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| 3/5 | E-Stops wired and partial enclosure/organization complete. |
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| 1/5 | Wiring is completed but enclosures incomplete or unsafe. |
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| 0/5 | No e-stop implementation, car presents electrical hazards to a regular user. |
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**Minimum Requirements:** Wiring is completed but enclosures incomplete or unsafe 4/10.
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#### Software Modules (All must be on the main branch)
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5. **Perception Stack**
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| Score | Criteria |
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|-------|-------------------------------------------------------------------------|
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| 20/20 | Fully functional pipeline including anomaly detection running at around 30fps with all sensors, rigorously tested on the car under diverse scenarios. |
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| 15/20 | Pipeline with tracked 3D bounding boxes, lights and sign detection, using all sensors, tested on the car with minor issues. |
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| 10/20 | Pipeline with tracked 3D bounding boxes with almost all sensors, tested on the car with minor issues. |
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| 5/20 | Partial pipeline with only 2D-3D bounding boxes from the 3 cameras and Lidar tested on the car. |
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| 0/20 | No progress. |
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**Minimum Requirements:** Basic pipeline functionality (tracked 3D bounding boxes with signs and lights detection) running at least 20fps with at least 3 cameras and 1 Lidar tested on the car for a score above 5/20.
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6. **Local Plan and Controller**
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| Score | Criteria |
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|-------|-------------------------------------------------------------------------|
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| 20/20 | MPC (or MPPI) Fully functional, rigorously tested on the car, capable of turning. |
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| 15/20 | Intial testing of MPC on car completed |
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| 10/20 | Full working integration of MPC (or MPPI) and Local Planner with world modeling in simulation |
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| 5/20 | Integration with World Modeling started but not done. |
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| 0/20 | No progress. |
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**Minimum Requirements:** Full working integration of MPC (or MPPI) and Local Planner with world modeling in simulation for a score of 10/20.
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7. **HD Map**
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| Score | Criteria |
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|-------|-------------------------------------------------------------------------|
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| 10/10 | Successfully load custom maps (non-simulation) and initial testing with car |
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| 7/10 | Insertion and handling of any Perception detection |
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| 4/10 | Insertion of regulatory elements detected by Perception stack |
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| 0/10 | No progress. |
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**Minimum Requirements:** Insertion of regulatory elements detected by Perception stack for a score of 4/10.
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8. **Behavior Tree**
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| Score | Criteria |
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|-------|-------------------------------------------------------------------------|
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| 5/5 | Expanded behaviour tree with full integration with local planner |
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| 3/5 | Basic integration with local planner |
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| 1/5 | Initial tree design fully implemented and tested with HD Map |
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| 0/5 | No progress. |
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**Minimum Requirements:** Implemented tree tested with HD Map for a score above 1/5.
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9. **Localization**
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| Score | Criteria |
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|-------|-------------------------------------------------------------------------|
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| 10/10 | Fully tested on the car and functional with GPS/IMU and car odometry. |
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| 7/10 | Implementation of localization module integrating GPS/IMU with car odometry, tested in simulation |
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| 4/10 | Testing setup for car odometry in simulation |
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| 0/10 | No progress. |
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**Minimum Requirements:** Localization must be functional in simulation for a score above 7/10.
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10. **Blog Posts**
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| Score | Criteria |
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|-------|-------------------------------------------------------------------------|
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| 5/5 | Blog post every month |
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| 3/5 | Three blog posts |
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| 1/5 | Single blog post |
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| 0/5 | No progress. |
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**Minimum Requirements:** At least one blog post 1/5.
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---
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### Scoring Template
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| Quest Name | Description | Due Date | Score |
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|-------------------------|-------------------------------------------------------|-----------|--------|
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| OSCC Boards | | 2025-07-6| |
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| Sensor Drivers | | 2025-06-15| |
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| Mounts | | 2025-06-15| |
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| Electrical Safety & Stability | | 2025-08-10| |
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| Perception Stack | | 2025-07-6| |
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| Local Plan and Controller| | 2025-08-10| |
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| HD Map and Global Plan | | 2025-08-10| |
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| Behavior Tree | | 2025-08-10| |
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| Localization | | 2025-07-6| |
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| Blog posts | | 2025-08-17 | |

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