title: OpenBot Waffle — Authoritative Bill of Materials

content: Component list with current prices. Drives the order spreadsheet — every line item maps to a real part on Amazon / Robotis / Adafruit.

case: openbot-waffle

sub_case: bom


title: OpenBot Waffle — Academic Paper (Springer 2024)

content: Most detailed published reference. Full design rationale, simulation results, and photos. Cite when answering questions about why specific components were chosen.

sub_case: academic-paper


title: OpenBot Waffle — Gazebo Simulation Setup

content: Run the robot in Gazebo before/while building. Best way to learn the ROS2 Nav2 stack (SLAM, AMCL localization, path planning, teleop) while waiting for ordered parts to arrive.

sub_case: simulation


title: TurtleBot3 — Commercial Robot This Design Is Inspired By

content: The ~$1.5k Robotis platform OpenBot Waffle clones. Assembly photos and cable-routing guides translate directly — useful reference when the Waffle docs are sparse.


title: TurtleBot3 — Hardware Setup Photo Reference

content: Cable routing and component-mounting photos. Similar enough geometry to OpenBot Waffle that these are useful when our own docs are ambiguous.


title: IEEE Spectrum — Waffle Robots & TurtleBot Tutorials

content: Video roundup including OpenBot Waffle demos. Good 'why this exists' context for visitors evaluating whether to build one.

sub_case: related-ieee-spectrum


title: Dynamixel XL430-W250-T — Pinout & Control Table

content: Servo used for drive on OpenBot Waffle. Wiring diagrams and the full control table for programming via the Dynamixel SDK.


title: Dynamixel Shield — Wiring to Arduino + Motors

content: How to wire the Robotis Dynamixel Shield to the XL430s and an Arduino host. The control loop sits on this shield; this doc explains every pin.

sub_case: datasheet-dynamixel-shield


title: Slamtec RPLidar A1 — 360° 2D Lidar

content: Spec sheet for the lidar used in the SLAM stack. ~$110, 12m range, 5.5 Hz scan rate. Sufficient for indoor Nav2 demos.


title: Intel RealSense D435i — Depth Camera + IMU

content: Stereo depth camera with built-in IMU. Used for visual odometry and obstacle avoidance. Rolls over to the JPL OSR build per the next-project plan.


title: Adafruit BNO055 — Absolute Orientation IMU

content: 9-DOF orientation sensor (accelerometer + gyro + magnetometer with on-chip fusion). I2C interface, easy to wire to a Pi. Used for attitude estimation when wheel encoders aren't enough.


title: NASA JPL Open Source Rover — Primary GitHub Repo

content: The NASA-designed rocker-bogie Mars-rover analog, sized for a 2-foot personal robot. README has assembled-rover hero photos and links to every build doc.

case: jpl-osr

sub_case: primary-repo


title: JPL OSR — Parts List (Authoritative BOM)

content: Every fastener, motor, wire, and bracket needed to build the rover. ~$2,900 in new parts before rolling over electronics from a prior build.


title: JPL OSR — Mechanical Assembly Steps

content: Step-by-step build of the rocker-bogie suspension, chassis, and motor mounts. The largest single doc in the build process.

sub_case: assembly-mechanical


title: JPL OSR — Electrical Wiring

content: How the 6 brushed-DC drive motors, 4 Dynamixel XM430 steering servos, RoboClaw controllers, and Pi 5 brain interconnect. Includes power-distribution and the U2D2 servo controller.

sub_case: assembly-electrical-wiring


title: JPL OSR — Custom PCB Reference

content: Schematics and BOM for the optional custom PCB that consolidates the drive/steering wiring. Can be replaced with point-to-point wiring; this doc explains both options.

sub_case: assembly-pcb


title: JPL OSR — Rover Code (osr-rover-code)

content: The ROS2 driver stack: motor control, joystick teleop, IMU-aided odometry, and an example autonomous-driving demo. Runs on the Pi 5.

sub_case: software-osr-rover-code


title: JPL OSR — Read The Docs Manual

content: Hosted long-form documentation with the parts list, assembly, and wiring rendered with images. Easier to read than the in-repo Markdown.

sub_case: docs-readthedocs


title: JPL OSR — Project Landing Page (opensourcerover.jpl.nasa.gov)

content: Official NASA JPL project page. Photos, video, mission rationale, and links to the GitHub repo. Best place to send non-technical visitors.

sub_case: project-page


title: OpenBot Waffle — primary GitHub repo

content: Main repo. README has hero shots of the completed robot, links to every other build doc, and points at the ROS2 stack you'll run on it.


title: OpenBot Waffle — 3D Printing & Assembly

content: Step-by-step assembly with photos at each stage. The canonical walk-through for printing the chassis and bolting on the electronics.


content:
FOS_UAV — Open-Source Fixed-Wing Aerial Mapping / Survey Platform
Open-source 3D-printable surveying drone. Source / full build outline: https://github.com/rahulsarchive/FOS_UAV

FOS_UAV — open-source fixed-wing aerial MAPPING / SURVEY platform (ICFOSS Drone Research Program). Purpose: photogrammetry — a downward-facing camera captures overlapping images on GPS waypoint missions; processing stitches them into 3D orthomosaics for elevation data, water levels, and volumetrics at centimeter-level accuracy. Fixed-wing is far more efficient at covering ground than multirotors (longer flight time/range for surveying).
BILL OF MATERIALS: Flight controller Matek F405 Wing (STM32F4); Motor DYS D3536 1400KV; Battery Tattu 5000mAh 30C LiPo; ESC SkyWalker 60A; 2x Towerpro MG90S servos; GPS Beitian BN-880; Telemetry SIK Radio 433MHz; Airframe 5mm Depron foam sheets.
CONSTRUCTION: Latest V4.0 "Stingray" stacks/adheres depron sheets for rapid prototyping + easy repair; profiles CNC-milled or hand-cut, assembled in layers to avoid stress at glue joints.
SOFTWARE STACK: ArduPilot (autopilot) + Mission Planner (ground station) + OpenDroneMap (image processing).

summary: DIY open-source fixed-wing UAV for aerial mapping/surveying (ICFOSS Drone Research Program). Fixed-wing efficiency for long-range photogrammetry; downward camera + GPS waypoint missions stitched into 3D orthomosaics with centimeter-level accuracy.

source_name: ICFOSS (Intl. Centre for FOSS)

doc_kind: build-guide


content:
1300mm RTK Survey/Mapping Hexacopter (timarcher)
Open-source 3D-printable both drone. Source / full build outline: https://github.com/timarcher/Drone

1300mm folding carbon-fiber hexacopter, documented end-to-end (frame assembly -> flight tuning) with a comprehensive BOM. Heavy-lift platform for high-accuracy aerial imaging/mapping (agriculture + surveying).
BILL OF MATERIALS (major): RJX 1300mm hexacopter frame; 6x Hobbywing XRotor X6 Plus motors (3 CW / 3 CCW) + 2480 props; Tattu Plus 16000mAh 12S LiPo + dual 60A smart charger; Cube Orange+ flight controller; Here4 RTK GPS; Herelink HD video link; Raspberry Pi 5 8GB; Intel RealSense D435 depth camera; Lightware SF45/B LiDAR; Gremsy T7 gimbal; Sony a6500 + 16-50mm lens; RTK base station; ground-station laptop. Est. total ~$12,000–13,000.

summary: Heavy-lift 1300mm carbon-fiber hexacopter documented step-by-step (frame assembly to flight tuning) with a full parts list. RTK GPS + gimbaled mirrorless camera + LiDAR for high-accuracy aerial imaging/mapping; suited to agriculture + surveying payloads. ~$12–13K build.

source_name: timarcher


content:
SRD-1 — Science & Research 3D-Printed Drone
Open-source 3D-printable agriculture drone. Source / full build outline: https://github.com/MilosRasic98/SRD-1

SRD-1 (Science & Research Drone 1) — fully open-source 3D-printed quadcopter emphasizing low cost + printability.
ELECTRONICS: three independent Arduino Nano boards — (1) flight controller + MPU6050 IMU running MultiWii firmware, (2) RC receiver with NRF module, (3) RC transmitter with NRF module. Motors: generic 2212 BLDC + 30A ESCs (~870g thrust each; ~1.75kg payload capacity).
BUILD: parts optimized for 3D printing (minimal supports, strength-distributed geometry); CAD + technical drawings on Printables. Transmitter uses salvaged RC potentiometers or Arduino joystick modules. Optional gimbal mount for a Raspberry Pi HQ Camera on SG90 servos with rubber shock absorbers. Full CAD, drawings, firmware + assembly docs on GitHub + Printables.

summary: Fully open-source, low-cost 3D-printed quadcopter (named after the SR-71). 3x Arduino Nano (flight controller + RC receiver + RC transmitter), MultiWii firmware. Payload ~1.75kg; optional Raspberry Pi HQ camera gimbal mount — usable for research/monitoring payloads.

source_name: Milos Rasic


content:
Nilon Open-Source Arduino 3D-Printed Multifunctional Drone
Open-source 3D-printable agriculture drone. Source / full build outline: https://github.com/Nilon123456789/Drone

Open-source multifunctional drone built around Arduino + 3D-printed parts; CAD, code and build documentation on GitHub (github.com/Nilon123456789/Drone). Low-cost DIY quad adaptable to monitoring/utility payloads. See the GitHub repo for the full parts list and assembly steps.

summary: Open-source Arduino-based, 3D-printed multifunctional drone with build files and documentation on GitHub — a low-cost DIY platform adaptable to monitoring/utility payloads.


content:
3D-Printed Fixed-Wing Mapping Drone (Instructables / Hackster)
Open-source 3D-printable surveying drone. Source / full build outline: https://www.hackster.io/news/this-fixed-wing-uav-drone-is-almost-entirely-3d-printed-and-you-can-build-it-yourself-aa0e38ed99b5

Almost-entirely 3D-printed fixed-wing UAV for aerial mapping/imaging; full write-up + STLs on Instructables.
MATERIALS/BOM: airframe printed in lightweight LW-PLA, motor mount in PETG, carbon rods stiffening the wings. Electronics: Matek F405-WING V2 flight controller; RadioMaster RP3 receiver; Hobbywing Skywalker 40A ESC; SUNNYSKY X2216 motor; MG90S control-surface servos. See the Instructables write-up (linked) for the full print + assembly steps.

summary: An almost-entirely 3D-printed fixed-wing UAV (LW-PLA airframe, PETG motor mount, carbon rods) with a full Instructables write-up + STLs — suited to aerial mapping/survey imaging.

source_name: Hackster / Instructables build


title: NASA JPL Open Source Rover — Build Outline (+ overview video)

content:
NASA JPL Open Source Rover — Build Outline
A scaled-down version of the 6-wheel rover design JPL uses to explore Mars, built from consumer off-the-shelf parts as an educational + research platform for terrain navigation.
SPECS: ~$1,600 cost; ~1.6 m/s top speed; 10 motors; aluminum + GoBilda components; Raspberry Pi brain (control + customization).
MARS-INSPIRED MECHANICS: Rocker-Bogie suspension (keeps all six wheels on the ground while climbing obstacles); differential pivot (redistributes weight mechanically over uneven terrain); six-wheel Ackerman steering (per-wheel direction + motor speed).
BUILD PHASES (5): (1) Parts ordering from the parts lists/vendors; (2) Wiring — cables from the PCB to motors/assemblies; (3) Electronics assembly — solder the PCB, integrate connections; (4) Mechanical construction — body, rocker-bogies, motor assemblies; (5) Software configuration — install OS + rover code on the Raspberry Pi.
EFFORT: no less than 100 person-hours; needs fabrication, soldering, and basic Linux/Python.
DOCS: https://open-source-rover.readthedocs.io  |  GitHub: https://github.com/nasa-jpl/open-source-rover
OVERVIEW VIDEO: https://www.youtube.com/watch?v=exHqc_Vuifw (auto-captions were unavailable, so the written build outline above is the primary text; the video is linked for reference).

summary: Scaled-down 6-wheel Mars-style rover from COTS parts (~$1,600, ~100 hrs). Rocker-bogie suspension, differential pivot, Ackerman steering, Raspberry Pi brain. 5 build phases: parts, wiring, electronics, mechanical, software.

source_name: NASA JPL