VECTOR · The big brother · dimOS · open source blueprint
A custom-built mecanum platform: four mecanum wheels on hub motors, a steel chassis, enough torque to carry an arm. Gravel, grass, tiles and ramps. It runs dimOS through an external blueprint package, no fork, no patches.
Holonomic teleop with a per-wheel envelope: mixed stick inputs can never saturate a wheel. Cold benches for every layer.
ODOMETRYLidar odometry, kiss-icp scan-to-map with a gyro prior, feeding a 2D costmap that learns and unlearns, with persistent maps and keep-out zones.
MAPPINGVoxel mapping on the Jetson's GPU, with reproducible build recipes for CUDA open3d on aarch64.
TRANSPORTThe whole stack on dimOS's zenoh bus: system load from about 24 down to 6.4 on the Nano.
RELOCDistributed relocalization on a second machine over the same mesh: a match that costs 45 to 113 s on the Nano lands in 12 to 15 s there.
FLIGHTA gated launch sequence, an organ panel for every sensor, and a state vigil that only speaks on change.
| BASE | Four mecanum wheels on brushless hub motors, two ZLAC8015D dual drivers over MODBUS RTU, steel chassis |
| BRAIN | Jetson Orin Nano Super 8 GB, dimOS on zenoh |
| SENSORS | RealSense D455F at body height on the front face, 2D lidar for the pose, IMU, bumpers |
| POWER | 24 V pack under the chassis |
VECTOR is the research rover for the street-cleaning use case: drive, map, come back, carry the sensors and the lessons that MOSS inherits. Two pull requests from this work are open upstream in dimOS, on frontier detection and on paying for U-turns.
Where it stops today: the map knows, the block comes too late, the rover still bumps and recovers on its bumpers. That is the next problem.