For the current CaveX Project, see github.com/cavex.

CaveX is a Mechanical Engineering Honours Group at the University of Adelaide, South Australia. This is my copy of my team's software as of September 2021.

We have designed and are building a semi-autonomous robot for mapping cave systems such as the Naracoorte Cavex using SLAM and LiDAR. We are using a Velodyne PUCK, Dynamixel XL servos and a Jetson Nano and OpenCR1.0 control boards.

Here is the beautiful Alexandra Cave with active formations.

Here's the team doing a scan.

Here's the Naracoorte Cave system map courtesy of Craig Williams (UofA) that we are aiming to contribute to.

Here is a photo of our hardware.

Due to the XL-430-w250t and 2XL-430-w250t servos using a different control table to earlier motors, OpenSHC is not yet working fully on our hardware.

2021 Team:

• Matthew King
• Hayden Lee
• Jesse Cooper
• Aaron Thomas
• Cameron Natt

Many of the repos in this project are forked from CSIRO-Robotic's repos.