ROS 2

This year, the software migrated from ROS1 (kinetic) to ROS 2 (humble) on the main computer: an Nvidia Jetson TX2. This came along with a Docker implementation due to the Jetson's ubuntu version limitation and curiosity for the usage of updated technologies, which also involved a reorganization of the repository's workspace. The Gazebo’s software was also updated from Gazebo Garden to the new simulator. The master also changed the way it manages the missions, by now receiving a message from the Xbee RF modules that indicates the order in which the vehicle should go to each one of them, first by travelling to the task, and then by executing each mission, and running only the necessary nodes and controlling the peripherals for each task. The missions from the latest ROS version were updated and optimized, but also the way the vehicle follows waypoints, and this year’s new tasks are appended, as well as the changes from the new versions of the ones from previous years.