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:

   • Has the Perseus software stack installed

   • Is connected to the same network as Perseus

4. A single M2M2 LiDAR unit is connected to Perseus

M2M2 LiDAR Configuration¶

IP Address Configuration¶

1. Connect the M2M2 LiDAR to:

   • Ethernet port

   • 5V power supply

2. Determine the LiDAR’s IP address using either:

   • Network scan utility

   • 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¶

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.