ENPM662 - Project 2
Modeling and Simulation of Martian Rover

Authors

• Suriya Suresh
• Sandip Sharan Senthil Kumar

1. Project Goals

• Design a Martian Rover and a 5 DoF manipulator.
• Calculate and verify the kinematics of the manipulator.
• Simulate the rover in a Martian Environment.
• Control the rover in simulation.
• Execute the task of drilling into the surface in simulation.
• Integration of a camera onto the rover.

2. Installation of Dependencies

ROS is required to this package. Install ROS by follwoing the instructions on: http://wiki.ros.org/noetic/Installation

3. Setting up the package

1. Clone the github repo.

$ git clone link-of-repo

2. Inside the repo under package is the ROS package which is required to run the robot & the package is named as robo_car

3. Go to your catkin_ws by typing the command $ cd <your catkin_ws_name>

4. Place that package in your catkin_ws under src

5. Then run the command $ catkin_make clean && catkin_make to build the package

6. Source everytime you open a new terminal or made any changes in the ROS package using the command

source devel/setup.bash

4. Visualizing output of Camera

1. Open two terminals and source ROS using the command mentioned above
   

2. Run the command below to launch the toy car in Gazebo environment

roslaunch mars_rover_v8 template_launch.launch 

3. In your other terminal run the command, to launch RViz

rosrun rviz rviz

4. Add the RobotModel and Camera. There you go you can see the Rover and Camera visualization in RViz

5. Instructions to run the Rover in Gazebo

1. Open two terminals and source ROS using the command mentioned above
   

2. Run the command below to launch the toy car in Gazebo environment

roslaunch mars_rover_v8 template_launch.launch 

3. In your other terminal run the command, to launch the teleop controllers

rosrun mars_rover_v8 Script_move.py

Credits

Credits to the repsective owners of trademarks and to

• NASA for openly available models of their Mars rovers
• TheConstructCore for their Curiosity Mars Rover package from which the envrionment was used
• https://github.com/marsiitr/Mars-Rover for their Model of the Mars Rover used for this project
• https://github.com/fath25/AachenRover for their model of the Mars Rover, the arm from it being used for this project