Olivia Fugikawa, Adam Kosinski, Niall Mullane, Clara Wang, Kevin Jaget
In 2018, we wrote a comprehensive whitepaper explaining our groundbreaking work to introduce ROS to FRC. This year, we learned from last year's mistakes and challenges to write better code: code that was effectively organized for automation and took advantage of more of what ROS has to offer. We also made the huge step of transfering some CAN reads and writes to our NVIDIA Jetson TX2, requiring the setup of a second hardware interface. This whitepaper covers the biggest improvements that we made this year.