One of the IGVC challenges is to implement JAUS and be able to respond to various queries from the judges main station. Since JAUS provide a comprehensive communication environment between different components of the system we decided to use it as the main software architecture for our robot. JAUS library came with an example code that we were able to adopt and write our implementation using it.
JAUS provides multiple messages to support various types of communications, but it does not have a message to support LIDAR data transfers between components. Therefore, we had to implement a custom JAUS message to be able to transfer LIDAR data. There are more implementation to be done and we will post our progress in future posts.