Project Marsworks: Scarab Mars Rover

ROS2 workspace developed to achieve manual control and autonomous navigation in both simulation and real-world environments for the Anatolian Rover Challenge (ARC) 2025.

Main components:

• Rover Simulation (Gazebo)
• Rover Teleoperation (MAVROS)
• Rover Autonomous Navigation (RTAB + NAV2)

Prerequisites

• ROS2 (Humble or later recommended)
• Ubuntu 22.04 Jammy Jellyfish
• Gazebo Ignition

Installation

1. Clone the repository:

   git clone https://github.com/SheffMarsworks/ScarabRover.git
   
   cd ScarabRover

2. Install dependencies:

   rosdep install --from-paths . --ignore-src -r -y

3. Build the workspace:

   colcon build

Documentation

• Run Simulation (Gazebo): Load URDF and World, test Rover with joystick or keyboard in simulation.
• Guide to Manual Control: Connect flight controller to GCS using MAVROS, and control real rover with joystick.
• Sending FC Data Over Network: Access the Flight Controller data wirelessly on your device

Acknowledgments

• Project Marsworks Software Team
• @Jan for providing the original Mars rover simulation URDF in ROS1

Contributors