Raph Rover Specification
Key parameters​
| Parameter | Value |
|---|---|
| Dimensions (LxWxH) | 559 mm x 474 mm x 255 mm |
| Weight | 12.5 kg |
| Maximum payload | 10 kg |
| Maximum linear speed | 1.8 m/s |
| Maximum angular speed | 4.7 Rad/s |
| IP protection rating | IP 54 |
| Operating temperature | -10 °C to +40 °C |
| Run time | 4 hours* |
| Connection range | Up to 100 m |
* - infinite with hot swapping batteries
Rover overview​
Hardware​
Dimensions​
| Parameter | Value |
|---|---|
| Length x Width x Height | 559 mm x 474 mm x 255 mm |
| Weight | 12.5 kg |
| Track Width | 385 mm |
| Wheelbase length | 382 mm |
| Ground clearance | 80 mm |
| Wheel diameter | 170 mm |
Speed and performance​
| Parameter | Value |
|---|---|
| Maximum linear speed | 1.8 m/s |
| Maximum angular speed | 4.7 Rad/s |
| Climb grade (no payload) | 30° ( ~58%) |
| Climb grade with 5kg payload | 20° ( ~36%) |
| Climb grade with 10kg payload | 10° ( ~18%) |
| Hill grade traversal | 30° ( ~58%) |
| Nominal torque | 4 Nm |
| Maximum torque | 8 Nm |
Drivetrain​
Raph rover is equipped with two independent steering wheels on the rear of the robot. It enables great agility of the robot as well as precise manoeuvres such as:
- Following a curve
- Rotate around middle
- Rotate around front wheel
Components​
| Name | Quantity | Description |
|---|---|---|
| Built-in computer | 1 | UPBoard 7000 - Credit card-sized SBC based on the Intel N100 CPU - CPU: Intel® N100 quad-core (x86 architecture) - Memory: 8GB LPDDR5 - Storage: 64GB eMMC - Connectivity:  - 1 Gigabit LAN  - HDMI 1.4b  - 3 USB 3.2 Gen 2x1 (10 Gb/s)  - 2 USB 2.0/UART  - 40-pin GPIO header Full specification |
| Router | 1 | Teltonika RUTX10 - Industrial router with with Gigabit Ethernet, Bluetooth LE, and AC Wi-Fi. - WAN: 1 x 10/100/1000 Mbps - LAN: 3 x 10/100/1000 Mbps - Wi-Fi: 802.11b/g/n/ac Wave 2 (Wi-Fi 5) - Bluetooth: 4.0 Full specification |
| Controller | 1 | RaphCore - Custom Fictionlab's controller designed for Raph Rover. See more |
| Antenna | 2 | Dual-band (2.4 GHz / 5 GHz) placed on the rear of the robot. |
| Stereoscopic camera | 1 | Luxonis OAK-D Pro W IMX378 - a wide-angle camera with active stereo depth and high-resolution color capabilities. - RGB sensor: IMS 378 - RGB sensor resolution: 12 MP - RGB sensor DFOV: 120° - Stereo sensors: OV9282 - Stereo sensor resolution: 1 MP - Stereo sensor DFOV: 150° Full specification |
| Lidar | 1 | RPLidar S3 - 360-degree waterproof 2D Lidar scanner with a 40-meter range. - Coverage: 360° - Max range: 40 m - Sample rate: 32 kHz (32 000 points per second) - Angular resolution: 0.1125° Full specification |
| Battery | 2 | 6S (22.2V) 4 Ah Li-ion battery - Custom battery pack with hot-swappable connectors. See more |
| BLDC motors | 6 | BLDC motors with integrated controllers. Connected to RaphCore board via RS 485 bus. See more |
| LED strip | 4 | 143 RGBW Individually addressable LEDs. Used as rover status indicator as well as any custom purpose programmed by the user. - Form factor: 3535 - Density: 144 LEDs/m - Power: 23 W - Temperature: 6000-6500K. - Luminance R: 46; G: 156; B: 34; W:409 lm |
Component's diagram​
Battery​
Raph rover's batteries are enclosed in specially designed case, allowing them to be quick swappable. Each pack has its own BMS that manages charging, discharging and has built-in protections.
| Parameter | Value |
|---|---|
| Battery type | Li-Ion |
| Battery pack type | 6S1P |
| Cell type | Samsung 40T |
| Nominal voltage | 22.2 V |
| Capacity | 4000 mAh 88.8 Wh (flight safe) |
| Maximum output power | ~650 W |
| Safety systems | Overcurrent Undercurrent Reverse polarity Overheat |
RaphCore controller​
RaphCore serves as the primary control board for Raph Rover. The board leverages FreeRTOS and MicroROS to control rover tasks such as:
- Drivetrain control
- Power system management
- LED control
- IMU operation
- Odometry tracking
| Component | Model | Description |
|---|---|---|
| Microcontroller | STM32H5 series | CPU type: 32-bit Arm® Cortex®-M33 CPU frequency: 250 MHz Flash memory: 2 MB |
| IMU | - | Sensor Type: 6-axis Acceleration: 2 g, 4 g, 8 g, 16 g Resolution: 16 bit Sensitivity: 2097.2 deg/s/LSB |
| Internal power connectors | 3 x MC 1,5/ 2‑G‑3,5 | Additional power outputs for the rover. Each individual output can be disabled or enabled separately. |
| External power connectors | 1 x MC 1,5/ 6‑G‑3,5 | Power outputs for the rover interface panel. Each individual output can be disabled or enabled separately. See more |
Payload​
The Raph Rover is engineered for easy and versatile payload integration. If your sensor or hardware is ROS 2-compatible and falls within the rover's power (5V 4A, 12V 4A, and 24V 4A) and weight limits (10 kg), you can be confident in its compatibility.
External data ports​
| Interface | Notes | Device connected |
|---|---|---|
| USB type A | USB 3.2 Gen 1 (5 Gb/s) | UPBoard 7000 (Main computer) |
| USB type C | USB 3.2 Gen 1 (5 Gb/s) | UPBoard 7000 (Main computer) |
| HDMI | HDMI 1.4b | UPBoard 7000 (Main computer) |
| RJ-45 | 10/100/1000 Mb/s | Teltonika RUTX10 (Router) |
External power panel​
| Voltage | Max amperage | Max power | Connector |
|---|---|---|---|
| 5 V | 4 A | 20 W | Phoenix Contact MC 1,5/ 2-ST-3,5 |
| 12 V | 4 A | 48 W | Phoenix Contact MC 1,5/ 2-ST-5,08 |
| BAT (18-25.2 V) | 4 A | 100 W | Phoenix Contact MSTB 2,5/ 2-ST-5,08 |
note
Total amperage and power is shared between 2 connectors on the external panel, so for example it is possible to connect 1 device that uses 4 A or 2 devices that use 2 A each.
Mechanical connections​
| Parameter | Value |
|---|---|
| Payload capacity | 10 kg |
| Hole grid spacing | 25 mm x 25 mm |
| Mounting hole dimensions | 5.4 mm, compatible with: M5 screws CLS-M4-1 press-in nuts |
| Mounting plate dimensions (L x W x D) | 330 mm x 198 mm x 2 mm |
info
Apart from the mounting plate, it is possible to mount payloads directly to v-slot extrusions of the Raph Rover, effectively providing a 360 mm by 430 mm working area.
Software & Control​
| Parameter | Value |
|---|---|
| Operating System | Ubuntu 24.04 LTS |
| Core Framework | ROS 2 Jazzy |
| User Interface | Web-based GUI accessible over Wi-Fi |
| UI Features | Real-time teleoperation, live video streaming, system monitoring |
| API Access | Full control via standard ROS 2 topics, services, and actions |
| Software license | MIT License |
ROS nodes​
