Key features
Gazebo simulation
High-fidelity physics simulation with moon yard terrain, obstacles, and regolith dynamics
Material handling
Autonomous excavation and deposition actions with fault detection and current monitoring
AprilTag localization
Fiducial marker-based positioning for precise arena navigation
Hazard detection
Computer vision-based obstacle and crater detection for safe path planning
Nav2 integration
Full navigation stack with path planning, obstacle avoidance, and goal-based movement
Sensor fusion
Extended Kalman Filter combining IMU, odometry, and visual localization
Architecture
The rover software is organized into specialized ROS 2 packages:- lunabot_simulation - Gazebo worlds, launch files, and arena models
- lunabot_description - Robot URDF models, meshes, and sensor configurations
- lunabot_perception - Hazard detection and computer vision
- lunabot_localisation - AprilTag detection, EKF fusion, and SLAM
- lunabot_navigation - Nav2 integration and path planning
- lunabot_control - Low-level motor control and actuation
- lunabot_interfaces - Shared ROS action and message contracts
- lunabot_bringup - System-level launch files
- lunabot_teleop - Manual control interfaces
Get started
Installation
Install ROS 2 Humble, Gazebo Fortress, and dependencies
Quick start
Clone the repository and build the workspace
Run simulation
Launch the moon yard simulation and visualization tools
API Reference
Explore ROS topics, actions, and service interfaces
Hardware platform
The Innex1 Rover is based on the Leo Rover platform, modified with:- Custom excavation mechanism with current monitoring
- Hydraulic deposition system with limit switches
- Front-facing depth camera for navigation
- IMU for orientation and acceleration data
- 2D LiDAR for obstacle detection
Competition requirements
The rover must autonomously:- Navigate from the starting zone to the excavation zone
- Excavate lunar regolith using the front-mounted mechanism
- Return to the construction zone
- Deposit collected material in the target area
- Avoid obstacles and hazards throughout the mission