1. ROS

1.1 Occupancy grid transformation

* In map_conversion_callback(), we transform the occupancy grid from ego frame to map frame. This transformation does not seem to be working properly.
* To see this issue, run the base_code package, connect to foxglove, and visualize the occupancy grid from the /voxel_grid/occupancy/test topic. If you rotate the robot, the map orientation compared to ego orientation should get messed up.

1.2 No odometry or no map_frame transform

• Try restarting the platform linux service
  • Run sudo systemctl restart clearpath-platform.service
  • Sudo password: "clearpath"
• Alternatively, you can also try rebooting the jackal
  • Run sudo reboot
  • Sudo password: "clearpath"
• This can be a bit finicky, and sometimes it takes a few tries for everything to start up properly

1.3 Sensors not publishing anything

• Try restarting the custom linux service
  • Run sudo systemctl restart clearpath-custom.service
  • Sudo password: "clearpath"
• Alternatively, you can also try rebooting the jackal
  • Run sudo reboot
  • Sudo password: "clearpath"
• This can be a bit finicky, and sometimes it takes a few tries for everything to start up properly

2. Ubuntu

2.1 Screen turns yellow

• If the screen turns yellow, follow the instructions mentioned here for enabling Wayland: https://askubuntu.com/questions/1404516/screen-turns-yellow-even-using-the-live-option-ubuntu-22-04