ROS Packages for Phylax, a 6wd autonomous vehicle based on the wild thumper platform.
The robot will be build around NVIDIA's AGX processing module, using a quad camera setup for surround view, classification and target tracking. SLAM will be implemented using a Velodyne VLP-16 LiDAR and standard ROS packages. NVIDIA's Deepstream framework will be used for all tasks related to image processing running on a custom pipeline application server. A Texas instruments AWR1642 mmwave radar will be used for enhanced target tracking and obstacle avoidance.
- Continuously variable FOV video streaming
- Multicamera AI based threat classification and tracking
- Processing unit: NVIDIA AGX
- Lidar: Velodine VLP-16
- Radar: TI AWR1642
- IMU: Inversense ICM-20948
- GPS (rover): U-blox zed-F9P
- GPS (base): EMLID REACH RS+
- Motor Controllers: Pololu SMC G2 18v12
- Motors: 34:1 Metal Gearmotor 25Dx67L mm HP 6V with 48 CPR Encoder x6
- Primary remote controller (transmitter): FrSky X-lite
- Primary remote controller (receiver): FrSky RX8R
- Secondary remote controller: Sony PS4 remote controller
- WiFi/BT: Intel Wireless-AC 9260
- Camera board: LI-JXAV-MIPI-ADPT-6CAM-FP
- Cameras: LI-IMX185-MIPI-CS/M12 x 4
- Max speed: 7km/sec
- Uptime (avg): 50 minutes