Open Source Skid Steer

Working Doc

• Working doc mention - [1]

Specification

From Avinash Baskaran, Ph.D., OSHWA Postdoctoral Fellow

Based on our initial conversation, I identified broad steps for a full-stack, open-source grading autonomy system. The stack is scoped within ROS and “SLAM” framework (Simultaneous Localization And Mapping, which was a major focus of my PhD):

1. Drone-based multiview reconstruction using ROS + openMVG/MVS for topographical mapping
2. Open hardware rotary laser level + machine-mounted receiver for fine grading
3. Real-time toolpath planning using RViz + Open3D + RTAB-Map

I plan to use the BeagleBone AI-64, an open-source platform to control the skid-steer, is this acceptable? Step 1 above is optional when elevation changes are minor compared to the receiver height, but I think it’s a valuable addition for enabling full autonomy. I’ve also received a high-fidelity SparkFun RTK GPS module from Nathan Seidle, which I’ll use to validate and calibrate the localization. Overall this approach balances cost, industry-aligned best practices, and high RoI. It also generalizes to applications at PARC, like autonomous crop and livestock management and hydrology.

Looking forward to sharing and discussing initial results soon.