2025 URC Season Rewrite

[Gold872]

Nearly every file of Autonomy has been changed in some way throughout this year, and most of the logic behind logical execution has been refactored.

Here are some of the major changes that have been made:

Project Organization

• Reorganize folders
• Separate configurations for drive
• Replace SensorDrive and SensorlessDrive with one standard RoverDrive
• Move all constants into one file

Pathfinding

• Add diagonal movement to A*
• Use octile distance heuristic
• Replace all GPS related math functions with UTM coordinates

Path Following/Logic Execution

• All path following is now synchronous with a periodic timer
• Use state machine to handle task execution
• Fix turning behavior to turn the shortest way
• Use different tolerances for path following vs final destination
• Improve abstraction and coupling between sensor vs timed + sim drive

Detector + Video

• Incorporate lidar sensor + new video packet structure
• Lock any found obstacles that interfere with path
• Use path generation + solvepnp for aruco detection

Misc

• Reformatted all files
• Remove redundant tests

TODO:

• Confirm state machine structure
• Remove behavior trees
• Finish documentation
• Implement Aruco task with state machine
• Trigger replan on drive timeout
• Cleanup imports

[lregueiferos]

The autonomy rewrite looks good. I removed the commented-out files and increased the number of tries for the network rover can drive test.