SyrianSpock / rover

Autonomous Rover using ROS

Autonomous Rover

This project aims to build an autonomous rover using GPS, vision, and inertial sensors for navigation. The goal is to run everything onboard an embedded computer running Ubuntu with ROS. The rover consists of a rocker-bogie 3D printed rover.

Quickstart

Simulation

Launch the simulation

roslaunch rover_simulation simulation.launch

Robot initial position and terrain are set through arguments passed to the launch file.

To move the robot you can use the RQT robot steering interface that will stream commands over the cmd_vel topic.

Documentation

Hardware

• Custom 3D printed rocker-bogie rover structure
• Processing board: Jetson TK1 board connected to
• RGBD sensor: Intel Realsense camera R200
• IMU (accelerometer, gyroscope, magnetometer and barometer)
• GPS

Software

The current stack contains the following

• rover_description contains the robot description in URDF
• rover_control contains the controller parameters and localization pipeline
• rover_simulation contains launcher for simulation in Gazebo