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Project began in January 2024 with a team of 3 seniors studying mechanical engineering at The Master's University, and the help of a senior in computer science
Intended to be a platform for future classes at The Master's University to build on the work we have started
Construction started in October 2023 as a first personal dive into robotics
Intended as a learning experience, and as a general robotics platform for exploring computer vision and navigation algorithms
modifications
OAK-D + mount: Bobert has an original run OAK-D from the first Kickstarter for his eyes, plus a custom pan-tilt mount I designed and had printed in nylon with multi-jet fusion (MJF). The mount uses two pancake stepper motors driven my a SPI-controlled stepper driver board
Tool rack: For field maintenance and repair, I've added a small rack using some wooden dowels and some 3D-printed brackets to hold my Wera ratchet in place on Bobert
On/off switch mount: To prevent the on/off switch just flopping around, I've added a small 3D-printed switch mount
This is my second rover! I built the first one Robert the Rover in 2019. This version is the original v2 of the OSR, which I lead the mechanical design of.
I built a roof rack for it so that it could carry stuff around. As you can see from my first rover's mods, I switched to a roof payload holder instead of a trailer cart since that makes doing autonomy easier and lowers the chance of slipping.
This is a custom spin-off of the OSR V2 design, utilizing mostly the same electronics and software stack, but made out of a combination of laser cut aluminum and 3D printing technologies such as MJF, SLA, and SLS. It was inspired by my partner who asked for a ring bearer robot at our wedding, and this project was particularly special to us as I was working on designing the very first Open Source Rover at JPL when we met.
Modifications
Custom channels, creating the structure and allowing cables to be routed through the interior of the robot, sealing from elements, and keeping cables well protected.
Added a servo and servo mounting block + gears in order to give the head an articulated axis, making it so I could make the head rotate around. Hollow tube supports mounts the head to run cables, and mounts an LCD screen at the top.
Wrote a ROS backend + FastAPI, and React frontend to display either a cute face, or diagnostic information about what's happening on the robot. Gui shows things like wheel speeds, servo positions, battery voltage level, and a few error/faults.
Added corner latches that swing up/down and attach via magnets, allowing me to lock out the corners so they can't move for transportation.
V1 Rovers
JPL Rover
:-:
Expand to learn more about this build!
Constructed in 2017, upgraded many times since!
JPL has used this rover for many different events, from JPL/Mars outreach events, taking it to schools, local robotics clubs, and even a few robotic conferences!
Maintained by a few different JPL employees over the years
modifications
Annodization! Before assembly of this version we got the metal pieces annodized a mix of red/black
Micro D-Sub connectors at each of the rocker-bogies, so that both can be taken off easily and rover can be transported much easier!
I started construction in December 2019. Robert took his first steps about 3 months later.
I use the rover for fun,
I help maintain the two repositories. I'm a robotics engineer by training and happy to help with anyone stuck or with ideas. The best way to reach me is via Slack.
RC: For outdoor roving, I use a long-range transmitter and receiver from Spektrum.
sensor stack: I mounted a lidar on top of my rover to allow for 2D mapping, localization, and navigation. I also have mounted (variations of) two monocular cameras, an IMU, and depth cameras to it. Details in my blog post.
toy trailer: I bought this toy trailer so that Robert can carry a payload. I attached it to Robert using a repurposed wrench and a collar clamp. It's not very robust but it does the trick!
handle: I used a strong piece of rope and a small piece of PCV tubing (handle) to lift the rover off the ground so I could carry it up and down stairs.
Astronomy days at the North Carolina Museum of Natural Sciences Three times. One time Roverto had the opportunity to try and drive over a full size Curiosity wheel. The last time we rand that event, there were over 14,000 attendees.
We'll be needing a little bit of git skills here. Although not strictly necessary, it helps to take a look at some tutorials on contributing using git & GitHub. Here are the basic steps.
install git on your computer. On Linux, that means sudo apt-get install git
Fork this repository by clicking the Fork button in the top right corner of the GitHub page.
'Clone' your fork to your computer by clicking the green Code button and copying the link. Type in git clone into your terminal and paste the link you just copied.
Create a new branch and switch to it. git checkout -b ourrovername_gallery
You're ready to start making changes! You can use any text editor of your liking, like VS code.
copy over someone else's section and adjust it to include your build's information. Add your entry to the top of the relevant section (V1 or V2). To keep this compact, add any text and details to the collapsible section (within the <details> </details> tags).
Create a new folder within the images folder and add your rover's pictures to it.
Change the image links to point to your images. The format for that is image src="images/your_folder_name/your_picture.jpg".
Commit your changes with git.
in the terminal, navigate to this folder. git status should show that there are changes and new files.
use git add folder_name/file_name for each change you want to include to stage those files.
Commit these changes: git commit -m "Adding my rover to the OSR gallery!"
Upload them using git push origin ourrovername_gallery, replacing ourrovername_gallery with the branch name you created earlier.
Create a Pull Request (PR) to suggest merging your code into the main branch.
Navigate to the repository's pull request page on GitHub. Click 'New pull request'.
click 'compare across forks'.
Select your fork from the head repository dropdown and pick your branch.
click 'create pull request'. GitHub will take you to a page where you can create a title of your suggested changes and a description.
Wait for a maintainer to review your changes. They might ask you to make changes if something doesn't look right. Once the PR has been greenlighted, your changes will be added to the main branch!
