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Multi purpose autonomous rover

This project documents the progress of my ROS2 rover build. Plans: Mow, sweep, remove weeds in yard, snow removal and spread grit.

zarrocZarroc
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Work in progress!

Mechanical & Drivetrain

Chassis: Heavy-duty welded steel tube frame (60x60x40 cm).
Drive System: Differential drive powered by 2x Robstride 04 motors.
Actuation: Front-loader mechanism driven by a linear motor.


Electronics

Primary Controller: Lenovo ThinkCentre M920q (Mini-PC) running Ubuntu and ROS2.
Control Board: Custom-designed PCB for power distribution and low-level hardware interfacing.
Power Supply: High-capacity 24V 50Ah battery pack


Perception & Navigation

Localization: UM982 RTK GPS with a dual-antenna setup.
Lidar: 2x Unilidar L2 units for full 360° environmental scanning.
Vision: Intel RealSense D455 depth camera for 3D object recognition and spatial mapping.
  • 2 × Robstride 04
  • 2 × Unitree L2 Lidar
  • 1 × Realsense D455
  • 1 × 24v 50Ah LiFePo
  • 1 × Ubuntu PC

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