Steward: Your
Reforestation Companion

Introduction

Steward is a robot that plants trees on marginal pastureland. This documentation describes Steward’s software components. We separate Steward’s software into three suites:

• Steward OS, the core code, which is organized as a ROS2 workspace
• EcoSim, a simulation tool built with the Unity game engine
• Canopy, a web-based user interface

This documentation is specifically for Steward OS.

Overview of Steward OS

Steward OS is a collection of ROS2 nodes, where each node is a program written to perform a specific task. Nodes are organized into the following groups:

• Interfaces: Interfaces to sensors, the simulator, Canopy, etc.
• Perception: Classifiers, detectors, and state estimators
• Planning: Path planners, costmap generators, and behavior managers
• Control: Nodes to turn high-level goals into low-level actuation commands
• Actuation: Nodes for moving the robot