We took all the comfort of a home living room and combined it with the offroad power of a small tank! This is using a Bunker Pro from Agile-X with a Jetson Orin AGX to autonomously follow a previously-recorded path. The robot can localize itself within 1cm and know its orientation thanks to the RTK GPS on the GQ7 from Microstrain. Object avoidance during navigation is done with a 2D lidar and a pointcloud from a ZED2i stereo camera. A lot of different hardware so I can ride around offroad in comfort!
All the code is online too here: