Mars Rover Challenge

This repository contains the code for our rover's onboard Nvidia Jetson Xavier.

📝 Table of Contents

• About
• Getting Started
• Deployment
• Usage
• Built Using
• TODO
• Contributing
• Authors
• Acknowledgments

About

Our rover uses 6 wheeled rocker bogie suspension system along with a 5 DOF custom arm. The onboard computing is handled by an Nvidia Jetson Xavier coupled with a Teensy 4.1 microcontroller to assist with IO. The rover is equipped with an Intel Realsense depth camera, 3 Cameras, and GPS.

Getting Started

These instructions will get you a copy of the project up and running on your local machine for development and testing purposes.

Prerequisites

• [ ] Ubuntu LTS 22.04

Installing

Clone the repository and run the install script.

git clone https://github.com/roboticsatiowa/Rover.git
chmod u+x ./Rover/install.sh
./Rover/install.sh

Running the code

There are several launch files for various subsystems. To run the entire system, use the following command.

ros2 launch rover_launch launch_all.launch.py

ROS Isaac Installation

docker run -it ros2-humble-isaac

The system can also be run remotely using ssh. This is done via the remote_launch.sh This script should not need to be run directly.

Roadmap

Completed

• [x] Basic ROS2 Setup
• [x] Camera Streaming
• [x] GPS
• [x] Manual Control

In progress

• [ ] Visual SLAM with Intel Realsense
• [ ] Full PID control
• [ ] RTK GPS

Future Plans

• [ ] Autonomous Waypoint Navigation
• [ ] Inverse Kinematics
• [ ] Preset subroutines
  • [ ] "Push-up mode"
  • [ ] Race mode
  • [ ] Button targeting