Gokart Infrastructure for a Wider Audience

[datahaki]

Motivation

• to extend the gokart infrastructure to a wider audience
• to create a baseline solution in "AIDO style" (docker and so on) for the gokart. This will be the first stepping stone for an AIDO competition with gokarts in 2/3 years.
• to create an infrastructure also for research in the area of compositionality of learning and similar.

You will need to work a bit with everyone (mainly Alessandro for the zauron, Enrico and Giole for MPC related control, @datahaki for everything), so good team spirit and use of git are a must

Milestone 1

Write a client process that translates a joystick configuration into actuator commands and sends them to the gokart via a defined protocol (yet to be defined). Show that you can control the gokart by joystick.

Milestone 2

Extend the client process to listen to IMU and wheel odometry messages and create a position estimate of the moving gokart in real-time.