CAD files are provided in STEP/STP format. This is the whole assembly as a solid format so you can easily edit it. You will need to load it into some CAD software and edit/export individual STLs for printing.
Tyres are printed in TPU, I used Ninjaflex. The rest in PLA printed with a combination of 0.5mm and 1.2mm nozzles.
Motors are 6374 150Kv BLDC motors from the ODrive store: https://odriverobotics.com/shop Encoders and cables are the 8192 CPR encoders also from the ODrive store. I used a 56V ODrive 3.6, the robot runs from a 24V LiPo, but it can be 25V+ when it's charged. Drive belts are 590mm T5 12mm wide PU belts with steel tensioners made by Synchroflex.
Other electronics so far include:
-Teensy 4.1 -NVIDIA Xavier NX -RPLIDAR A2 -24v and 11.1v lipos, switches and wiring etc
The Robot runs ROS Melodic on Ubuntu 18.04. This is because the NVIDIA Xavier NX runs 18.04 by default.
On the robot:
The arduino code runs on the Teensy 4.1. This talks to the wheel encoders. It subscribres to the cmd_vel topic and publishes Odom, and TF for the robot's motions. The RPLIDAR A2 node publishes the scan topic: https://github.com/robopeak/rplidar_ros