AhaRobot Hardware Design Resources

Project Website • Paper • Documentation • ROS Code • Firmware Code • Hardware Design • Dataset

Repository Contents

This repository contains hardware design resources for AhaRobot, organized into the following structure:

Main Components

• Astra: CAD files for AhaRobot

  • STL/: 3D printable STL model files
  • Aluminum_Profiles_STEP/: Aluminum profile STEP files with JLC FA part number
  • Astra.STEP: The CAD model

• Astra_Teleop: CAD files for Robopilot handles

• astra_description: Robot description files for ROS2

  • urdf/: Unified Robot Description Format files
  • meshes/: Mesh models for visualization
  • launch/: ROS2 launch files

How-to-use

For detailed documentation, please refer to our notion site:

https://aha-robot.notion.site/Hardware-Assembly-Guide-1d733900bc87802b8833d968bfd26c55?pvs=74

License

This project is licensed under the GNU General Public License v3.0 (GPL-3.0) with additional restrictions.

This means:

• ✅ You are free to use, modify and distribute the source code
• ✅ You must make your modifications available under the same license
• ✅ You must state changes made to the code
• ✅ You must include the original copyright notice
• ❌ You may not use the material for commercial purposes
• ❌ Modifications must also prohibit commercial use

IMPORTANT: This project explicitly prohibits ANY commercial use, including but not limited to selling products based on this project.

See the LICENSE file for the full license text.