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The EZ-RASSOR (EZ Regolith Advanced Surface Systems Operations Robot) is an inexpensive, autonomous, regolith-mining robot designed to mimic the look and abilities of NASA’s RASSOR on a smaller scale. The primary goal of the EZ-RASSOR is to provide a demonstration robot for visitors at the Kennedy Space Center. The EZ-RASSOR can:

• Rove across light-to-moderate terrain
• Collect regolith in rotating drums
• Return regolith to hoppers located away from dig sites
• Execute pre-planned routines
• Autonomously navigate around possible obstructions
• Cooperate in a swarm of other EZ-RASSORs

For more information, ourwiki contains a high-level overview of the EZ-RASSOR and its many components.

POTENTIAL CONTRIBUTORS: check out thecontributing guidelines and thelicense.

• ROS Melodic
• Python 2.7
• Pip
• rosdep
• build-essential

First, clone this repository withgit.

git clone https://github.com/FlaSpaceInst/EZ-RASSOR.gitcd EZ-RASSOR

Then, let thedevelop.sh script do the heavy lifting! On Ubuntu Xenial or Ubuntu Bionic, creating a catkin workspace and building all packages is achieved with these commands:

# By default, all ROS packages in the *packages* folder will be installedsh develop.sh setupsh develop.sh linksh develop.sh resolvesh develop.sh buildsh develop.sh install** RESTART TERMINAL**

If you encounterSub-process /usr/bin/dpkg returned an error code..., try to fix the broken install with the following command, then rerun the original command:

sudo apt --fix-broken install** RERUN ORIGINAL COMMAND**

Everything's installed now! Proceed to theusage section.

If you want to install specific EZ-RASSOR packages, you can use the same develop.sh script:

Make sure you have already run the setup command at least once:

sh develop.sh setup

Then, you can call the relink function and use-o to pass in the package name(s) you would like to install:

sh develop.sh relink -o ezrassor_sim_control ezrassor_sim_description ezrassor_sim_gazebosh develop.sh buildsh develop.sh install

Alternatively, you can also call the relink function and use the-e flag to make the script install allbut the specified package(s):

sh develop.sh relink -e ezrassor_swarm_control

The EZ-RASSOR is controlled via a collection oflaunch files. These files contain lists of commands that start up the robot's systems and the simulation environment. They are read, understood, and executed by a core ROS utility calledroslaunch, whose general syntax is as follows:

roslaunch<package><launch file> [arguments...]

Each launch file is located in one of our packages, and the most important launch files are located in theezrassor_launcher package. To learn more about a specific launch file, visit that launch file's package'swiki page (via the navigation menu on the right). Here are some example commands that show launch files in action:

# Launch the simulation with a single robot controlled by the mobile app.roslaunch ezrassor_launcher configurable_simulation.launch control_methods:=app# Launch the simulation with a single robot controlled by an autonomous loop.roslaunch ezrassor_launcher configurable_simulation.launch control_methods:=autonomy# Launch the simulation with two robots, both controlled by gamepads, on the moon.roslaunch ezrassor_launcher configurable_simulation.launch \    control_methods:=gamepad \    world:=moon \    robot_count:=2 \    joysticks:="0 1" \    spawn_x_coords:="-1 1" \    spawn_y_coords:="1 -1"# Launch the communication system in dual mode: manual and autonomous control together.roslaunch ezrassor_launcher configurable_communication.launch control_methods:="app gamepad autonomy"

Please read thewiki page for the ezrassor_launcher to learn more about what the main launch files can do.

EZ-RASSOR 1.0 Team

• Sean Rapp
• Ron Marrero
• Tiger Sachse
• Tyler Duncan
• Samuel Lewis
• Harrison Black
• Camilo Lozano
• Chris Taliaferro
• Cameron Taylor
• Lucas Gonzalez

EZ-RASSOR 2.0 (GPS-Denied Autonomous Navigation) Team

• Jordan Albury
• Shelby Basco
• John Hacker
• Michael Jimenez
• Scott Scalera

EZ-RASSOR 2.0 (Swarm Control & Management) Team

• Daniel Silva
• Chin Winn
• Martin Power
• Daniel Simoes
• Autumn Esponda

EZ-RASSOR 3.0 (Swarm Build Pad) Team

• Hung Nguyen
• Coy Torreblanca
• Stanley Minervini
• Richard Malcolm
• Camry Artalona

Please include the following citation when using EZRASSOR for a paper:

@misc{ezrassor_2021,author ={EZRASSOR Team},title ={EZRASSOR},year ={2021},publisher ={GitHub},journal ={GitHub repository},howpublished ={\url{https://github.com/FlaSpaceInst/EZ-RASSOR}}}