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SEDS Lunabotics - Software

ROS2 Architecture for Autonomous Rover

Overview

Designed a modular ROS2 architecture for Northeastern's SEDS Lunabotics rover, implementing sensing, navigation, and control nodes with standardized interfaces allowing for a fully autonomous rover.

Key Achievements

  • Contributed to 3rd place finish nationally in the NASA Lunabotics style competition at the University of Iowa
  • Designed modular ROS2 architecture for autonomous Lunabotics rover
  • Implemented distributed nodes for perception, localization, navigation, and control
  • Defined clean topic, service, and message interfaces to enable parallel team development

Technical Implementation

  • Distributed Architecture: Implemented distributed nodes for perception, localization, navigation, and control
  • Standardized Interfaces: Defined clean topic, service, and message interfaces
  • Sensor Integration: Integrated sensor pipelines (IMU, encoders, vision) with navigation and actuator control
  • Dual Mode Support: Supported autonomous and tele-operated modes with reliable DDS-based communication
  • Robustness: Prioritized robustness, real-time responsiveness, and debuggability under competition constraints
SEDS Lunabotics Architecture Diagram 1 SEDS Lunabotics Architecture Diagram 2