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One note is this isolates the Jetson to ONLY perception and navigation code. Another note is that the Jetson USB bandwidth is not very high so it is good that only the Zed will be on it now. |
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Use a Raspberry Pi 4 to control the Moteus's. It is supported out of the box with the Pi Hat. https://mjbots.com/products/mjbots-pi3hat-r4-4b
In general IO does not work very well on the Jetson and is unreliable. Moving it to a Pi will lend itself to better troubleshooting online and will probably just work better overall.
The Pi can be on the network as well and receive ROS messages. It will communicate with CAN directly to all Moteus motors.
We will be cutting a lot of the STM bridges out as they are unnecesary.
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