forest_surveillance_rover

Public

@lakshya-asu

Loading 3D model… large boards can take a moment.

README

Forest Surveillance Rover

Autonomous ground rover platform for forest monitoring with a split-compute architecture:

Raspberry Pi CM4 runs ROS 2 autonomy, perception, and mission logic.
STM32F407 runs hard real-time motor, sensor, and safety control.

Core field goals:

detect animals with YOLOv8,
detect smoke risk via MQ-2 gas sensing,
track a red marker/ball for guided behaviors,
patrol waypoints and report environmental telemetry.

What We Are Building

The rover is designed as a practical surveillance robot for wooded environments where GNSS quality, visibility, and terrain can change quickly. The architecture separates deterministic control from high-level AI workloads:

Phase 1 focus: embedded reliability and ROS-hardware bridge.
Phase 2 focus: odometry, TF, EKF fusion, and autonomy bringup.
Phase 3 focus: YOLOv8 detection, red ball tracking, smoke alert integration.
Phase 4 focus: complete launch orchestration, telemetry logging, post-mission analysis.

Implementation Retrospective (Completed To Date)

This repository now contains a completed infrastructure baseline plus executed Phase 1, 2, 3, and 4 software foundations.

Phase 0 (Infrastructure Foundation)

repository split preserved hardware history on hardware/rev-a and opened main for ROS-first software development,
ROS 2 workspace with package layout for hardware, autonomy, perception, messages, and description,
STM32 firmware project scaffold with FreeRTOS task model,
Docker ARM64 environment for Raspberry Pi compatible development,
GitHub Actions pipeline for build/lint/security workflows,

Comments

Forest Surveillance Rover

Autonomous ground rover platform for forest monitoring with a split-compute architecture:

Raspberry Pi CM4 runs ROS 2 autonomy, perception, and mission logic.

STM32F407 runs hard real-time motor, sensor, and safety control.

Core field goals:

detect animals with YOLOv8,

detect smoke risk via MQ-2 gas sensing,

track a red marker/ball for guided behaviors,

patrol waypoints and report environmental telemetry.

What We Are Building

Phase 1 focus: embedded reliability and ROS-hardware bridge.

Phase 2 focus: odometry, TF, EKF fusion, and autonomy bringup.

Phase 3 focus: YOLOv8 detection, red ball tracking, smoke alert integration.

Phase 4 focus: complete launch orchestration, telemetry logging, post-mission analysis.

Implementation Retrospective (Completed To Date)

This repository now contains a completed infrastructure baseline plus executed Phase 1, 2, 3, and 4 software foundations.

Phase 0 (Infrastructure Foundation)

repository split preserved hardware history on hardware/rev-a and opened main for ROS-first software development,

ROS 2 workspace with package layout for hardware, autonomy, perception, messages, and description,

STM32 firmware project scaffold with FreeRTOS task model,

Docker ARM64 environment for Raspberry Pi compatible development,

GitHub Actions pipeline for build/lint/security workflows,

forest_surveillance_rover

Share forest_surveillance_rover

Forest Surveillance Rover

What We Are Building

Implementation Retrospective (Completed To Date)

Phase 0 (Infrastructure Foundation)

Contact us

Sign in to BoardRepo

Forest Surveillance Rover

What We Are Building

Implementation Retrospective (Completed To Date)

Phase 0 (Infrastructure Foundation)

Phase 1 (Hardware Driver Layer & Real-Time Firmware)

Phase 2 (Autonomy & Navigation Base)

Phase 3 (Vision & Detection)

Phase 4 (Integration & Hardening Foundation)

Phase 5 (LoRa Telemetry & Remote Operations)

System Architecture

Repository Layout

Quick Start

1) Build ROS 2 workspace

2) Run complete integration bringup (Phase 2-5: autonomy + perception + logging + telemetry)

3) Or run Phase 2-4 bringup (autonomy + perception + logging, without telemetry)

4) Verify key topics

4) Analyze mission logs (Phase 4)

Firmware Build (Toolchain Required)

Engineering Notes

Roadmap Snapshot

License