# Introducing an open source 3D printed rover powered by ROS **URL:** \ **Category:** Projects\ **Tags:** release, ros2, docker, raspberrypi, ros\ **Created:** [October 6, 2020, 4:36pm UTC](https://discourse.openrobotics.org/t/introducing-an-open-source-3d-printed-rover-powered-by-ros/16713 "2020-10-06T16:36:30Z")\ **Posts on this page:** 5\ **Page:** 1

**Author:** ![mvoellmy](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/mvoellmy/32/7975_2.png) [@mvoellmy](https://discourse.openrobotics.org/u/mvoellmy)\ **Post date:** [October 6, 2020, 4:36pm UTC](https://discourse.openrobotics.org/t/introducing-an-open-source-3d-printed-rover-powered-by-ros/16713/1 "2020-10-06T16:36:30Z")

Hi there! We are happy to announce the release of our open source rover powered by ROS. > **[ExoMy](https://esa-prl.github.io/ExoMy/)** We are working in the Planetary Robotics Laboratory of the European Space Agency and developed ExoMy for enthusiasts and educational use. The rover is completely 3D-printed and uses of-the-shelve components so it can easily be built. It features a complete set of building instructions in our [wiki](https://github.com/esa-prl/ExoMy/wiki). ![DSC05713](https://us1.discourse-cdn.com/flex022/uploads/ros/original/2X/e/e086e71827b40d870fce0f56cbb8de9b86e6b7cb.jpeg) # Usage of ROS We are using the Ubuntu 18.04 with ROS melodic binaries. The native installation of a specific Ubuntu version on a specific Raspberry Pi version can be difficult. Thus, we installed Raspberry Pi OS on the Raspberry Pi 4 and are running an Ubuntu Docker image with the ROS installation. This makes the installation of the software stack a breeze and allows it to be used on any Raspberry Pi. ![software_architecture](https://us1.discourse-cdn.com/flex022/uploads/ros/original/2X/4/4ae508d88a72d90022e75d24319ec2b13948c544.png) ![node_overview](https://us1.discourse-cdn.com/flex022/uploads/ros/original/2X/7/71b88c2dbbf15b7a13f8ae0fc489daa688952d3b.png) # Features of the Rover Using a custom web interface or a gamepad, it is possible to teleoperate the rover in three modes (crabbing, ackermann and spot turn). The rover has a triple-bogie locomotion subsystem which allows it to overcome obstacles as big as it’s wheels. The camera can be used for the teleoperation and in future work for computer vision. ![webui](https://us1.discourse-cdn.com/flex022/uploads/ros/original/2X/e/e163a10d16ed59575543c1ee11bd190f3e3a88a2.jpeg) ![Annotated_Cut](https://us1.discourse-cdn.com/flex022/uploads/ros/original/2X/b/b4e4b0196d986b22f74e2bf484218f68e5420d80.jpeg) # Next Steps We are currently transitioning the [ExoMy software](https://github.com/esa-prl/ExoMy_Software) to ROS2, since we’re also working on porting our [lab codebase](https://github.com/esa-prl) to ROS2. Let us know what you think! ---

**Author:** ![Katherine\_Scott](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/katherine_scott/32/4434_2.png) [@Katherine\_Scott](https://discourse.openrobotics.org/u/Katherine_Scott)\ **Post date:** [October 6, 2020, 5:07pm UTC](https://discourse.openrobotics.org/t/introducing-an-open-source-3d-printed-rover-powered-by-ros/16713/2 "2020-10-06T17:07:09Z")

This is super cool! Is there a vendor selling electrical kits? Have you considered certifying the rover as open hardware? Do you know the maximum component dimensions (so I can know it will fit on my printer)? ---

**Author:** ![kyrofa](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/kyrofa/32/9577_2.png) [@kyrofa](https://discourse.openrobotics.org/u/kyrofa)\ **Post date:** [October 6, 2020, 6:48pm UTC](https://discourse.openrobotics.org/t/introducing-an-open-source-3d-printed-rover-powered-by-ros/16713/3 "2020-10-06T18:48:35Z")

> [@mvoellmy](#): > > We are using the Ubuntu 18.04 with ROS melodic binaries. The native installation of a specific Ubuntu version on a specific Raspberry Pi version can be difficult. Hey there, there are several Canonical/Ubuntu engineers around here, can we help you with this? I don’t mean to dilute the thread, feel free to PM me, but we’re happy to help in any way we can. ---

**Author:** ![mvoellmy](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/mvoellmy/32/7975_2.png) [@mvoellmy](https://discourse.openrobotics.org/u/mvoellmy)\ **Post date:** [October 7, 2020, 12:46pm UTC](https://discourse.openrobotics.org/t/introducing-an-open-source-3d-printed-rover-powered-by-ros/16713/4 "2020-10-07T12:46:19Z")

Hey Katherine! Thanks for the interest 🙂 Currently there is no vendor that sells a kit. We have an interested party however that might make a kit available if there is enough interest. I was not aware of a open source hardware certificate. Are you referring to the [OSHWA Certification](https://certification.oshwa.org/)? Currently the source files are released under the GPL v3 license, but I’ll look into the certification as it might be more fitting for a hardware project. The minimum build volume is 202 x 202 x 110 mm (x,y,z). Have a look at the [3D printing page on the wiki](https://github.com/esa-prl/ExoMy/wiki/3D-Printing) for more information and which printers ExoMy was already printed on. If you start building it, we’d be happy to hear about your experience here or on our [Discord](https://discord.gg/gZk62gg). 😃 ---

**Author:** ![mvoellmy](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/mvoellmy/32/7975_2.png) [@mvoellmy](https://discourse.openrobotics.org/u/mvoellmy)\ **Post date:** [October 26, 2020, 11:33am UTC](https://discourse.openrobotics.org/t/introducing-an-open-source-3d-printed-rover-powered-by-ros/16713/5 "2020-10-26T11:33:04Z")

Maximilian Ehrhardt and I just published a confrence paper at the International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS) covering the development of ExoMy. You can find the full text for download [here](https://www.researchgate.net/publication/344874558_ExoMy_A_Low_Cost_3D_Printed_Rover)