This project aims to develop a rover that can navigate through different terrain in a forest environment autonomously. The wiki containing more informatin about the rover can be found here.

A more detailed account of the development process can be found here.

The directory layout

.
├── .vscode                 # VS Code settings
├── CAD Models              # CAD Models used in the project with attributions. 
├── ESP32                   # ESP32 code for ESP32-C3 dronebridge.
├── GPS                     # Script to start NTRIP caster.
├── low_level_control       # Low level control
├── lua_scripts             # Lua scripts uploaded in flight controller
├── navigation              # Autonomous navigation
├── pyrealsense             # Intel Realsense library required on Raspberry Pi
├── schematic               # Schematic of the low level controller
├── .gitignore
├── pyproject.toml          # Python dependencies
└── README.md

Installation

To run some code that are not hardware dependent on your local PC, you can run the following commands in Python (Version used: 3.10.5 in PC and Raspberry Pi):

(./ is the repo root directory)

$ pip install -e .

Low Level Control

There are two components in the low level control i.e. the motor controller and the central hub. They are both implemented on the Raspberry Pi Pico using micropython. See the README.md in the low level control folder for more information.

Autonomous navigation

The files in the pyrealsense folder may have to be in the same directory as the navigation scripts, depending on your installation. Another option is to include the right package from local directory i.e.

from pyrealsense import pyrealsense2 as rs

To run the autonomous navigation script, use the following command in the navigation folder:

$ python navigation_final.py

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