APMRover 2, a fun UGV project for full autonomous recon missions...

[UPDATE: This project is now being ported to a proper Google Code repository and manual. For instructions, start there. You can also join the ArduRover User Group here.]

Hello to ALL, the new firmware for APMRover v2 has been tested successfully on my rover on may 1st, 2012 on full autonomous reco mission following a navigation plan. This new release of the APMRover v2 works on the APM v1.4 with the OilPan shield (magnetometer + MT3329 GPS) and also of course on the APM v2. The previous version of the APMRover v1.0 was a light size version specially designed for the APM1280 CPU (only) board and the MT3329 GPS.

For the frame, I have used a Traxxas Monster Jam Grinder with a brushed and high power motor Titan 12T and its XL-5 ESC.

The APMrover UGV is able to run itself following a list of recorded waypoints. The waypoints list (FPL) can be preloaded with the APM Mission Planner OR better in live, recorded by the pilot himself (with the SW7) during a manual run and then replayed in a full autonomous mission.

The firmware APMrover2 for APM v1 + OilPan or APM v2 successfully tested can be downloaded HERE

The APMrover v2 is also online on the official ArduPilot-Mega GIT repository HERE

Below the PID setup for the APMrover v1 and v2:

The light firmware APMrover1 for APM v1 (CPU 1280 or 2560) that I have tested can be downloaded HERE

Here's how to connect your cables:

More infos at: http://diydrones.com/profile/JeanLouisNaudin

Have Fun and Enjoy with the APMrover...

Regards, Jean-Louis

@Alan,

I ordered one of their Arduino Add-on kits: http://www.mymindsi.com/shop/cart.php?target=product&product_id... and two of their IR Distance Sensors: http://www.mymindsi.com/shop/cart.php?target=product&product_id...

I know that the Arduino/Shield/Case kit is a little pricey, but I like their Shield compared to the Chinese versions and the case is form fitting without a lot of hacking and cutting. I will use the Arduino Uno Shield kit for obstacle avoidance while taking waypoint steering commands from the APM1. Apparently one of their local suppliers was late supplying kit parts last week so they did not ship my kit until today. Received a nice email from Customer Support explaining my order delay this afternoon.

As far as the Traxxas wishbone suspension pins, I believe that you need P/N 5161 which is the Suspension Pin Screw Set.

A good place (rcboca.com) to get discount Traxxas piece parts is here: http://www.rcboca.com/?gclid=CL3kl6eRqbACFQhgTAodmVyRVQ I have used them extensively for Traxxas piece parts that you cannot purchase from eBay.

Hope this helps.

Regards,

TCIII

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Thomas J Coyle III May 30, 2012 at 4:08pm

@Alan,

I ordered one of their Arduino Add-on kits: http://www.mymindsi.com/shop/cart.php?target=product&product_id... and two of their IR Distance Sensors: http://www.mymindsi.com/shop/cart.php?target=product&product_id...

I know that the Arduino/Shield/Case kit is a little pricey, but I like their Shield compared to the Chinese versions and the case is form fitting without a lot of hacking and cutting. I will use the Arduino Uno Shield kit for obstacle avoidance while taking waypoint steering commands from the APM1. Apparently one of their local suppliers was late supplying kit parts last week so they did not ship my kit until today. Received a nice email from Customer Support explaining my order delay this afternoon.

As far as the Traxxas wishbone suspension pins, I believe that you need P/N 5161 which is the Suspension Pin Screw Set.

A good place (rcboca.com) to get discount Traxxas piece parts is here: http://www.rcboca.com/?gclid=CL3kl6eRqbACFQhgTAodmVyRVQ I have used them extensively for Traxxas piece parts that you cannot purchase from eBay.

Hope this helps.

Regards,

TCIII
KM6VV May 30, 2012 at 12:51pm

@Thomas,

What did you order?

Maybe you can tell me what the pins that hold the wishbone suspension elements to the bulkhead are called. I'm seeing two possible parts:

4907 Hinge pins

TMAX Suspension screws

Alan
Admin

Thomas J Coyle III May 30, 2012 at 4:12am

@Alan,

I appear to be having a problem with MINDSi. I placed my order on Wed May 23rd and my order still has not shipped as of today! Their customer support said that most orders take 2-3 days to ship and that they would try and get my order out by last Friday, but no joy. It looks like they may not have the items I purchased on the shelf for quick delivery.

Regards,

TCIII
Admin

Thomas J Coyle III May 30, 2012 at 4:08am

@Chris,

That chassis looks really tough and durable. How heavy is it since it appears to be made out of C-channel steel? Also, what is the length and width? Brushed or brushless?

Regards,

TCIII
3D Robotics

Chris Anderson May 29, 2012 at 8:41pm

Thisis the rover I'm using (something I bought at a garage sale). It's discontinued now, but the more recent versions of the Axial line look even better.
Wesley Chuen May 29, 2012 at 5:34pm

@Thomas J Coyle III

LMAO @ 60 mph to each WP!!!!

Too bad I can't have both.
KM6VV May 29, 2012 at 5:31pm

@Wesley

You might check out a RoboClaw, it can take RC PWM signals, and mix for skid-steer (two differentially driven wheels).

Alan
KM6VV May 29, 2012 at 5:29pm

Thanks for the links. I got some parts from Jennys already. I bid on some parts, will know tomorrow...

Alan
Admin

Thomas J Coyle III May 29, 2012 at 4:36pm

@Wesley,

Ya, but can your lawn mower do 60 miles an hour to each waypoint? LOL!

Regards,

TCIII
Admin

Thomas J Coyle III May 29, 2012 at 4:34pm

@Alan,

Here are the two eBay sellers that I bought my Traxxas parts from:

http://stores.ebay.com/lumidave35?_rdc=1

http://stores.ebay.com/Jennys-RCSports?_rdc=1

Hope this helps.

Regards,

TCIII

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