mihirdharmadhikari / eth_supermegabot Goto Github PK

Build your own autonomous all-terrain robot.

This repository contains all hardware designs, code and part lists and instructions to build and setup a fully autonomous all-terrain mobile robot.

If your robot is all set-up and you only want to set-up and use the software on client side, please follow these instructions:

• Robot / personal computer software setup
• (Optional) Maplab setup
• Connecting to robot
• Tutorials
  • Robot Introduction
  • State Estimation, bag-file-1, bag-file-2, bag-file-3, bag-file-4
  • 3D SLAM, bag-files
  • Maplab, bag-files
  • Path Planning
  • Trajectory Optimization
• Troubleshooting
  • Software
  • Hardware
• Safety

Building the hardware components is straightforward. All drawings are ready prepared to be produced with various production techniques. The overall CAD models were created with NX 12 and can be downloaded online.

Furthermore, we have readily prepared drawings to be send as jobs for:

• Laser cutting MDF
• Laser cutting Acryl
• 3D printing
• Cutting aluminium
• Aluminium Profiles

After robot assembly, its computer and network need to be setup:

• Robot software setup (analogously to personal computer)
• Robot network setup

This robot was designed in the ETH Construction Robotics group.