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MRover Software Introduction
General Resources
Best Practices
Git
Contributing
IDE Configuration
ROS & Environment
1. Introduction to ROS
2. Fundamentals of ROS
ROS Tools: rqt_bag
Setting up the Jetson
Setup
Getting Started
Installing Ubuntu
Native ROS Installation
Portable ROS Installation
VM Setup
macOS VM Setup (Deprecated)
USB Passthrough for UTM
ESW
Home
Getting Started
Introduction
STM32Cube
Starter Projects
LED
Servo
Part 1: PWM
Part 2: CAN
Temp-Humidity
Projects
Overview
Boards
Overview
ABS
BMC
LIM
PDB
Science
Reference
Build System
Overview
Project Anatomy
Toolchain and Presets
Generated Libraries
Build Script Internals
Continuous Integration
Configuration
Overview
Register Definitions
Device Values
CAN Configuration Interface
Python Tools
Overview
esw.can
esw.config
esw.cubemx
esw.stlink
esw.visualization
Script Reference
Maintaining Documentation
Useful Information
Build Tools
Timers
Communication Protocols
Brushed Motors
Brushless Motors
Cameras
Nucleo Information
STM32 Boot
Teleop
Getting Started
Teleop Overview
Teleop Quickstart
Teleop Starter Project
Guides
Vue Introduction
Sample Vue Component
Tailwind Introduction
Websockets Introduction
SQLite Introduction
Teleop Organization and Tools
Teleop Codebase Organization
GUI Style Checking
Camera Client
Downloading Offline Map
WebSocket Handlers Lookup
Teleop Projects
Feature Request
Teleop FAQ
Autonomy
Autonomy Overview
Autonomy Quickstart
Starter Project
Overview
Localization
Perception
Navigation
Testing & Completion
Projects 2026-27
Localization
Perception
Navigation
Localization
Localization
Dual Antenna RTK
How to Calibrate the IMU
In Search of Globally Accurate Orientation
Invariant EKF
Localization Data Caching State Machine
Navigation
Navigation
Arm IK
Path Planning
Hybrid A*
Search Trajectory
Modulation
Perception
Perception
Gesture Detection
Global Costmap
Keyboard Typing
Rock Pick Pose Estimation
Voice Command Recognition
Resources
3D Poses, Transforms, and Rotations
Vectorization
Drone
Drone Overview
900x Radio
Docker Setup (Experimental)
Flying the Drone
Full Development Bringup
macOS Ubuntu VM
Multi-Machine ROS2 Networking
NIX Video Capture Card
Resources
Software Install
Software Starter Project 2026-27
System Architecture
Archive
2024 Projects
2025-2026 Projects
Projects
5-DOF IK
Adaptive Pure Pursuit
Approach Object State
Approach Target Base State
Arm IK
Arm IK Testing Visualization
Arm Velocity Control
Click IK
Cost Map
Costmap Path Planning
Inward Spiraling
Lander Auto Align
Navigation State Machine Library
Obstacle Avoidance
Path Execution
Path Smoothing
Pure Pursuit
Second Camera Navigation Integration (LongRangeState)
Stuck Detector
Surface Normals Costmap
URC vs. CIRC Switch
Key Detection
Light Detector
Long Range Tag Detection
Object Detection
Object Detector Model
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ESW
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MRover Software
Welcome to the MRover wiki! This is the primary source of documentation and tutorials for MRover Software.
Get Started
Section titled “Get Started”
Introduction to the Team
Why MRover Software?
Setup
Install the codebase and ROS
Subteams
Section titled “Subteams”
Autonomy
Navigation, perception, and localization
ESW
Embedded systems, motor control, and hardware interfaces
Teleop
Operator interface, Vue components, and real-time control
Drone
Autonomous drone systems, PX4, and ROS2 integration