Issues

• feat(vision): landmark_manager — unified cube/ArUco pose + world model

  21-ros52-autonomy80-2026priority: highsize: Ltype: feat
  ROAR-QUTRC/perseus-v2#484 · Filter by author bocho0600 opened on Jun 26, 2026

• feat(vision): detection_tracker — confirm/track cube + ArUco by colour/id

  21-ros52-autonomy80-2026priority: highsize: Mtype: feat
  ROAR-QUTRC/perseus-v2#483 · Filter by author bocho0600 opened on Jun 26, 2026
  

• research(groundstation): RViz/distributed-ROS vs Foxglove/WebUI (websocket bridge) for GS control

  24-web-ui52-autonomy80-2026priority: highsize: Mtype: research
  ROAR-QUTRC/perseus-v2#482 · Filter by author bocho0600 opened on Jun 25, 2026

• feat(behaviour): stuck / immobilization recovery

  21-ros52-autonomy80-2026priority: highsize: Mtype: feat
  ROAR-QUTRC/perseus-v2#481 · Filter by author bocho0600 opened on Jun 25, 2026

• feat(behaviour): mission orchestrator (state machine above Nav2)

  21-ros52-autonomy80-2026priority: highsize: XLtype: feat
  ROAR-QUTRC/perseus-v2#480 · Filter by author bocho0600 opened on Jun 25, 2026

• feat(behaviour): area coverage sweep (boustrophedon) via opennav_coverage

  21-ros52-autonomy80-2026priority: mediumsize: Mtype: feat
  ROAR-QUTRC/perseus-v2#479 · Filter by author bocho0600 opened on Jun 25, 2026

• feat(behaviour): lost-recovery — return to known ArUco checkpoint + re-localize

  21-ros52-autonomy80-2026priority: highsize: Ltype: feat
  ROAR-QUTRC/perseus-v2#478 · Filter by author bocho0600 opened on Jun 24, 2026

• feat(behaviour): integrate cube + ArUco detections into the BT layer (foundation)

  21-ros52-autonomy80-2026priority: highsize: Mtype: feat
  ROAR-QUTRC/perseus-v2#477 · Filter by author bocho0600 opened on Jun 24, 2026

• feat(navigation): stall-speed (minimum forward speed) floor + RPP regulated-scaling retune

  21-ros52-autonomy80-2026priority: highsize: Mtype: task
  ROAR-QUTRC/perseus-v2#476 · Filter by author bocho0600 opened on Jun 24, 2026

• feat(navigation): integrate OHM as Nav2 local costmap

  21-ros52-autonomy80-2026priority: highsize: Ltype: feat
  ROAR-QUTRC/perseus-v2#475 · Filter by author bocho0600 opened on Jun 24, 2026

• feat(navigation): custom global traversability costmap (heightmap/gradient → Nav2)

  21-ros52-autonomy80-2026priority: highsize: Ltype: feat
  ROAR-QUTRC/perseus-v2#474 · Filter by author bocho0600 opened on Jun 24, 2026

• fix(navigation): dynamic ground-projected base_footprint (remove static frame)

  21-ros52-autonomy80-2026priority: highsize: Mtype: task
  ROAR-QUTRC/perseus-v2#473 · Filter by author bocho0600 opened on Jun 24, 2026

• research(mapping): evaluate RKO SLAM + Fast-LIO as Fast-LIVO2 backups

  52-autonomy80-2026priority: lowsize: Stype: research
  ROAR-QUTRC/perseus-v2#472 · Filter by author bocho0600 opened on Jun 24, 2026

• feat(mapping): point-cloud downsampling node (Fast-LIVO2 map → global costmap + ground station)

  21-ros52-autonomy80-2026priority: mediumsize: Mtype: feat
  ROAR-QUTRC/perseus-v2#471 · Filter by author bocho0600 opened on Jun 24, 2026

• research(mapping): validate OHM on Jetson vs Orange Pi (CPU + RAM)

  52-autonomy80-2026priority: mediumsize: Mtype: research
  ROAR-QUTRC/perseus-v2#470 · Filter by author bocho0600 opened on Jun 24, 2026

• chore(nix): fork + integrate OHM (GPU occupancy/heightmap map) for local costmap

  52-autonomy61-nix80-2026priority: highsize: Ltype: task
  ROAR-QUTRC/perseus-v2#469 · Filter by author bocho0600 opened on Jun 24, 2026

• feat(vision): stereo visual odometry on D455 (EKF source)

  21-ros52-autonomy80-2026priority: highsize: Mtype: feat
  ROAR-QUTRC/perseus-v2#468 · Filter by author bocho0600 opened on Jun 24, 2026

• feat(mapping): EKF for Fast-LIVO2 — fuse LIVO+IMU+stereo odom, merge map/odom frames

  21-ros52-autonomy80-2026priority: highsize: Mtype: task
  ROAR-QUTRC/perseus-v2#467 · Filter by author bocho0600 opened on Jun 24, 2026

• feat(mapping): Fast-LIVO2 bring-up — odometry + 3D map on Perseus sensors

  21-ros52-autonomy80-2026priority: highsize: Ltype: task
  ROAR-QUTRC/perseus-v2#466 · Filter by author bocho0600 opened on Jun 24, 2026
  1

  

• chore(hardware): manufacture Fast-LIVO2 sensor pod — LiDAR + depth-camera handlebar w/ onboard Jetson + power

  52-autonomy70-hardware80-2026priority: highsize: XLtype: task
  ROAR-QUTRC/perseus-v2#465 · Filter by author bocho0600 opened on Jun 24, 2026

• chore(sensors): finalise RealSense operating params — sunlight RGB exposure + enable RGB×2 stereo streams

  52-autonomy70-hardware80-2026priority: highsize: Mtype: task
  ROAR-QUTRC/perseus-v2#463 · Filter by author bocho0600 opened on Jun 24, 2026

• research(ml): auto-labelling pipeline spike — Grounded-SAM (Grounding DINO + SAM2) → Label Studio

  52-autonomy80-2026priority: mediumsize: Mtype: research
  ROAR-QUTRC/perseus-v2#462 · Filter by author bocho0600 opened on Jun 24, 2026

• feat(vision): common detection overlay node

  52-autonomy80-2026priority: mediumsize: Mtype: feat
  ROAR-QUTRC/perseus-v2#461 · Filter by author bocho0600 opened on Jun 24, 2026

• feat(interfaces): Detection2D + Detection2DArray contract; retire ObjectDetections

  52-autonomy80-2026priority: mediumsize: Stype: feat
  ROAR-QUTRC/perseus-v2#459 · Filter by author bocho0600 opened on Jun 24, 2026

• test(vision): gtest unit tests for cube + ArUco detector seams

  52-autonomy80-2026priority: mediumsize: Stype: task
  ROAR-QUTRC/perseus-v2#458 · Filter by author bocho0600 opened on Jun 24, 2026