Building last-mile delivery robot

Hardware spec

• Drivetrain: 2x350W motor-wheels with encoders + controller from a hoverboard

• Computer: Jetson Nano, Quad-Core ARM Cortex A-57 GPU, 4GB, 472 GFLOPS GPU

• Vision: Intel D435i stereo camera, Raspeberry PI CSI monocular camera

• Localization: 10-Hz GPS

• 2D Lidar: YDLIDAR X4

• 3D Lidar: Velodyne VLP-16

• IMU

• WiFi access point

• Bluetooth

• Soon: LTE modem for remote teleoperation

Software spec and capabilities

• Linux with NVIDIA JetPack

• ROS1 Melodic

• Robaka (different versions):

• Hoverboard driver integrated with ROS HW controller interface

• Indoor SLAM with Google Cartographer

• AR Tag following mode

• Teleoperation

• Driveable surface detection using semantic segmentation in realtime

• Coming soon: Outdoor SLAM

Robaka is fully open-source

Let's get in touch!

Write us if you're interested in this project, want to contribute or build a similar robot.