Autonomy Pre-Flight & Operations Checklist

This checklist defines the required engineering procedures for configuring, verifying, compiling, and operating the autonomy software during field trials and official University Rover Challenge (URC) competition runs.

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1. On-Rover Jetson Setup & Verification

Codebase and Toolchain Verification

• Verify Git Branch:
  • git status (Confirm working directory is clean and checked out to the designated deployment branch).
• Fetch Latest Commits:
  • git fetch origin && git pull
• Verify Build System & Compiler Version:
  • gcc --version (Must strictly report GCC 10.x per CMake configuration rules).
• Verify Configuration Constants in src/AutonomyConstants.cpp:
  • BUILD_SIM_MODE is set to OFF in CMakeLists.txt.
  • LIDAR_HANDLER_DB_PATH points to the valid DuckDB database tile file.
  • TAGDETECT_TORCH_MODEL points to the verified TorchScript ArUco weights (data/Models/best_tag.pt).
  • OBJECTDETECT_TORCH_MODEL points to the verified TorchScript mission object weights (data/Models/best_object.pt).
  • Extrinsic offsets match the current physical camera and GPS mast placements.

Compilation

• Clean Build Configuration:
  • rm -rf build && mkdir build
  • cmake -B build -DCMAKE_BUILD_TYPE=Release
  • Ensure CMake configuration prints -- [ ]: Sim Mode: Disabled and generates Autonomy_Software (not Autonomy_Software_Sim).
• Compile:
  • make -C build -j$(nproc)
  • Confirm binary links without warnings or missing shared library errors.

Bench Sensor Verification (Prior to Mounting)

• Check USB Device Tree:
  • Run lsusb in the terminal.
  • Verify that each connected ZED 2i camera populates two distinct devices:
    • Camera Video Interface (ID 2b03:f880)
    • Sensor / IMU Microcontroller (ID 2b03:f881)
• Execute Standalone Smoke Test:
  • Launch executable: ./build/Autonomy_Software
  • Press f: Confirm camera capture rates and detector threads achieve steady 30 FPS.
  • Press s: Confirm linear acceleration and gyro angular rates update dynamically when moving the camera.
  • Press t and m: Confirm tag and object detector models are loaded onto the CUDA device without memory exhaustion.
  • Press q: Confirm clean shutdown, database closure, and export of visualization.html.
• Network Interface Isolation:
  • Put the Jetson internal Wi-Fi adapter into Airplane Mode / Disabled state to prevent wireless interference with the 900 MHz and 5.8 GHz competition radio links.

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2. Basestation Operations & Deployment

Remote Session Launch

• Establish Secure Shell Session:
  • Open terminal on the basestation computer: ssh pigeon@192.168.3.100 (Default password: nandgate).
• Launch Autonomy Process:
  • cd ~/Documents/GitHub/Autonomy_Software
  • ./build/Autonomy_Software
• Verify RoveComm Telemetry:
  • Confirm log message reports: RoveComm UDP and TCP nodes successfully initialized.
  • Verify heartbeat packets populate in the Basestation GUI telemetry dashboard.

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3. Mission Waypoint Injection & Leg Types

Waypoints are queued into the autonomy system via the Basestation GUI or through direct RoveComm packets. Ensure the appropriate leg type and parameters are injected:

Leg Type Configurations

1. GNSS Position Leg (ADDPOSITIONLEG):
   • Command ID: 11002
   • Payload: [Latitude, Longitude, WaypointID]
   • Used for raw coordinate transit legs. The rover navigates until it enters constants::NAVIGATING_REACHED_GOAL_RADIUS (typically 1.5 m).
2. ArUco Marker Leg (ADDMARKERLEG):
   • Command ID: 11003
   • Payload: [Latitude, Longitude, MarkerID, SearchRadius]
   • MarkerID Parameter:
     • 0, 1, 2, or 3: Directs the rover to search specifically for that numerical tag ID.
     • -1 (manifest::Autonomy::AUTONOMYWAYPOINTTYPES::ANY): Rover accepts any detected ArUco marker.
   • SearchRadius: Clamped between 0.0 m and 40.0 m. Specifies the Archimedean spiral search envelope upon reaching the GNSS post location.
3. Mission Object Leg (ADDOBJECTLEG):
   • Command ID: 11004
   • Payload: [Latitude, Longitude, ObjectID, SearchRadius]
   • ObjectID Parameter:
     • -2 (manifest::Autonomy::AUTONOMYWAYPOINTTYPES::MALLET): Orange mallet target.
     • -3 (manifest::Autonomy::AUTONOMYWAYPOINTTYPES::WATERBOTTLE): Water bottle target.
     • -4 (manifest::Autonomy::AUTONOMYWAYPOINTTYPES::ROCKPICK): Geologist rock hammer target.
   • SearchRadius: Clamped between 0.0 m and 40.0 m.

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4. Autonomous Mission Execution Workflow

• Confirm Waypoint Queue Status:
  • Check terminal output: Confirm the incoming leg appears with correct coordinates, ID, and search radius.
• Initiate Autonomous Navigation:
  • On the Basestation GUI, click Start Autonomy (dispatches eStartAutonomy packet).
  • Verify rover state machine transitions from eIdle to eNavigating.
• Monitor Multimedia Board Status Lights:
  • Off: Autonomy is stopped / idle.
  • Solid Red: Autonomy is actively driving.
  • Flashing Green: Rover has successfully navigated to the waypoint, detected the target tag, or completed object approach.
  • Solid Blue: Teleoperation override active.
• Emergency Abort Protocol:
  • In the event of an imminent collision or boundary violation, click Abort on the Basestation GUI or press the physical wireless E-Stop.
  • The state machine immediately clears motor commands via DriveBoard::SendStop() and returns to eIdle.

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5. Post-Mission Data Archival

• Terminate Autonomy Session:
  • Press q in the active SSH terminal.
• Archive Run Artifacts:
  • Navigate to logs/<YYYY-MM-DD_HH-MM-SS>/.
  • Verify generation of:
    • console_output.log and console_output.csv
    • visualization.html (Open locally in browser to inspect traversed route and 3D point cloud)
    • spatial_map.ply (ZED stereoscopic mesh)
    • Recorded video streams (MainCam_Raw.mp4, MainCam_TagOverlay.mp4, MainCam_ObjectOverlay.mp4)
• Log Trajectory Playback:
  • Run python3 tools/logging/log_playback.py logs/<timestamp>/console_output.csv to review controller tracking fidelity and telemetry timelines.