Lander Auto Align

Context: In the ES mission we must align the rover with a mock lander. This is best explained visually so ask a lead for URC film.

Problem: Manually aligning with a face on the lander is difficult.

Solution: Use the ZED to detect the closest face on the lander. Run a control loop to align the rover heading with the normal of that face.

• Downsample the point cloud so it is faster to process
• Filter out all points which have normal z-components far away from zero, this will remove the ground
• Run RANSAC to fit a plane to the closest plane on the lander
• Acquire the normal vector, use closed loop control to align the heading of the rover with the normal

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Interface (subject to change): Use a action server to run a closed loop control algorithm, implementing a nonlinear feedforward plus feedback control law.

TODO