Optimus - All Terrain Semi-Amphibious Ground Vehicle for Highly Hazardous Scenerios

The following repository is part of a project submitted as coursework for the ENPM662 - Introduction to Robot Modelling course at University of Maryland - College Park. The motivation behind the project was to design a all terrain ground robot inspired from the Axel Rover by NASA/JPL and the Clearpath Robotics Warthog. We developed a differential drive robot that can dynamically adjust its ride height and adapt to the local terrain. Additionally, the robot also features two UR10e arms for manipulation capabilities.

Optimus.mp4

Optimus_UR10.mp4

Setup & Usage

1. Copy the following ROS packages to your respective catkin_workspace/src optimus optimus_front_down optimus_rear_down universal_robot

2. Build the package by navigating back to the catkin_workspace folder in the terminal and run -

   catkin_make
   

3. Source the catkin_workspace after successful build -

   source /catkin_workspace/devel/setup.bash
   

4. For full configuration of the robot, launch Gazebo using the following command -

   roslaunch optimus optimus.launch
   

   Run the teleop scripts using the following respective commands in different terminals -

   rosrun optimus optimus_teleop.py
   
   rosrun optimus UR10_teleop.py
   

5. For seperate halves configuration of the robot, launch Gazebo using the following command -

   roslaunch optimus different_namespaces.launch
   

   Run the teleop scripts using the following respective commands in different terminals -

   rosrun optimus_front_down optimus_front_down_teleop.py
   
   rosrun optimus_rear_down optimus_rear_down_teleop.py
   

Please reach out to us if you face any issues building/running the package.

Tanuj Thakkar - tanuj@umd.edu

Divyansh Agrawal - dagrawa1@umd.edu