JUSTIN BARNES / ENGINEERING
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Academic

TerraTrek Mars Rover

For my capstone, I worked on TerraTrek, a rover combining ROS 2 Jazzy, SICK TiM561 lidar navigation, SLAM Toolbox, and a dynamic rocker-bogie suspension. The gallery follows the earlier open-frame prototype through the later red rover and its suspension tests.

TerraTrek on the workbench during assembly, with the rover chassis open.
TerraTrek on the workbench during assembly, with the rover chassis open.

TerraTrek used ROS 2 Jazzy with a SICK TiM561 lidar for navigation and slam_toolbox for SLAM. The dynamic rocker-bogie suspension addressed mobility on low-friction terrain, bringing the navigation work and mechanical development into the same capstone.

Working through the hardware

The earlier build left the frame and wiring open. The red rover brought the later chassis and suspension together, with a SICK TiM561 lidar mounted above the body.

Bench and outdoor tests

The gallery includes wheel-assembly movement on the bench, an outdoor suspension test, and stair footage from the earlier prototype.

Technical details

  • Software: ROS 2 Jazzy with SLAM Toolbox (slam_toolbox).
  • Sensing and navigation: SICK TiM561 lidar for navigation.
  • Mechanics: Dynamic rocker-bogie suspension.

A closer look

The red TerraTrek build during an outdoor suspension test.
TerraTrek and the capstone team.
TerraTrek and the capstone team.
TerraTrek suspension movement on the workbench.
The open frame of the earlier TerraTrek build, showing the wiring and suspension layout.
The open frame of the earlier TerraTrek build, showing the wiring and suspension layout.
The earlier TerraTrek build positioned across several stair treads.
The earlier TerraTrek build positioned across several stair treads.
Earlier prototype — stair test.
An overhead look at the earlier build, with its wheels at different heights.
An overhead look at the earlier build, with its wheels at different heights.