This deployment is based on the UC San Diego DSC 190 Robot (2021).
Onboard the vehicle we have
- Vehicle
- BLDC motor
- Flipsky VESC 6.6
- Traxxas 1/10 chassis
- Steering servo (came with chassis)
- Sensor
- Intel© Realsense™ D455 (3D camera)
- (LiDAR option) LD06 (2D LiDAR)
- (LiDAR option) SICK Tim 551 (2D LiDAR)
- Sparkfun Artemis (IMU)
- Computation
- Nvidia Jetson Xavier NX (Jetpack 4.5)
- Misc
- 12-36VDC to 12VDC and 5VDC power distribution board
We grabbed the following external ROS2 drivers:
- ROS Wrapper for Intel© Realsense™ Devices by Intel (installed as binary)
- LD06 ROS2 Driver by Linorobot (built from source)
- Razor IMU ROS2 Driver by Andreas Klintberg (built from source)