Merge pull request #126 from Achllle/iss109_ros2foxy

Convert code base to ROS2 Foxy

Author: Achllle

README.md

@@ -3,8 +3,7 @@
 This repository contains the code that runs on the Raspberry Pi (RPi) and Arduino to control the 
 [JPL open source rover (osr)](https://github.com/nasa-jpl/open-source-rover).
 This includes the Arduino code that controls the LED matrix.
-The rover runs on ROS1 and its code currently is agnostic of the specific distribution 
-(tested on Kinetic, Melodic, Noetic). All Python code is currently Python2.
+The rover runs on ROS2 (tested on Foxy), mostly using Python 3.
 
 **Status**: actively developed. Please refer to the issues tab in GitHub for an overview of ongoing work.
 
@@ -22,6 +21,5 @@ such as how the drive and corner commands are being calculated
 
 The setup directory contains tutorial files for getting everything setup and configured for running the rover code. You should proceed through them in the following order:
 - [Arduino setup](setup/arduino.md)
-- [Raspberry Pi setup with Ubuntu 18.04](setup/rpi.md)
-    - If you want to use Raspbian (Raspberry Pi OS), there are instructions [here](setup/rpi_raspbian.md), though we strongly recommend following the Ubuntu18 instructions instead to get the best support.
+- [Raspberry Pi setup with Ubuntu 20.04](setup/rpi.md)
 - [Rover code bringup](setup/rover_bringup.md)