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Autonomy and Mapping Operations Manual

2026 Team Members

Nigel Natalia Hoyos Gonzalez Jasper Lachlan Ikeguchi

Map Generation Using SLAM

Prerequisites

Before proceeding with mapping operations, ensure:

  1. Perseus robot system is operational
  2. SSH access to Perseus is established and functional
  3. Your development laptop:
  4. Has the Perseus software stack installed
  5. Is connected to the same network as Perseus
  6. A single M2M2 LiDAR unit is connected to Perseus

M2M2 LiDAR Configuration

IP Address Configuration

  1. Connect the M2M2 LiDAR to:
  2. Ethernet port
  3. 5V power supply
  4. Determine the LiDAR's IP address using either:
  5. Network scan utility
  6. UniFi console interface

Note: This documentation uses 192.168.1.137 as an example IP address. Replace this with your actual LiDAR IP address.

Perseus System Configuration

Execute the following commands on the Perseus system:

cd perseus-v2
nix run .#ros2 -- run perseus_sensors m2m2_lidar --ros-args -p sensor_ip:=192.168.1.137 -p sensor_port:=1446

Technical Note: The M2M2 LiDAR utilises port 1446 by default. This port can be reconfigured through the M2M2's web administration interface if required.

Verification

Verify LiDAR operation by:

  1. Monitoring terminal output for expected messages
  2. Confirming scan topic presence: 
    nix run .#ros2 -- topic list

Development Laptop Configuration

Execute these commands in a new terminal session on your development laptop:

cd perseus-v2
nix run .#ros2 -- launch autonomy mapping_using_slam_toolbox.launch.py

This sequence launches RViz2, providing visualisation of Perseus and the developing map.

Technical Notes

  • Map updates occur only after Perseus has executed sufficient movement or rotation to trigger an update
  • Update trigger parameters are configurable in config/slam_toolbox_params.yaml
  • The system utilises ROS2's SLAM Toolbox for mapping functionality

Mapping & Autonomous Task - Australian Rover Challenge 2025

  • Goal: Autonomous exploration and mapping, navigation to specific landmarks by Perseus.

Points break-down

Activity Points
- Leave the Start Area Autonomously 5 points
- For each placard imaged and relayed 6 points per placard
- Location within 300mm of true position 5 points per cube
- Location within 600mm of true position 2 points per cube
- Autonomous phase bonus Double the above points
- Design and justification for navigation Up to 5 points
- Mapping system design Up to 5 points
- Details and visualisation of the map Up to 15 points
Total Possible Points 100 points

Autonomous Phase

  • Start Condition: Rover must autonomously exit the start area for points.
  • Navigation:
  • Task: Navigate to five placards using a pre-provided schematic.
  • Points: 6 points per placard imaged and relayed to judges.
  • Rules:
  • No manual control once rover begins moving.
  • Interventions move to non-autonomous phase.

Non-Autonomous Phase

  • Teams can take manual control anytime, for further exploration or troubleshooting which ends the ability to gather points in the autonomous phase.

Exploratory Mapping

  • Objective: Locate four 100x100x100mm cubes (red, green, blue, white).
  • Points:
  • 5 points for each cube located within 300mm accuracy.
  • 2 points if within 600mm.
  • Double points if reported during autonomous phase.

Data and Mapping Restrictions

  • All mapping data must be gathered during the task; no prior arena knowledge allowed.

Presentation

  • Autonomous Navigation Design:
  • Discuss the autonomous system's design, advantages, and limitations.
  • Mapping System Design:
  • Explain mapping navigation methods.
  • Justify autonomy level, map format, and feature choices.
  • Map Visualisation:
  • Present arena map, judged for coverage, completeness, resolution, and accuracy.
  • Points: Up to 25 points for the quality of the presentation.

Scoring and Penalties

  • Points for navigation success, cube location accuracy, and presentation.
  • Penalties for autonomous phase collisions or exiting arena requiring E-STOP activation.

This task emphasises autonomous operation, navigation, and mapping, with a focus on practical application of robotics in space exploration scenarios.