So the last days I have been busy. All parts for the drive system was completed and tonight I finished the first test assembly of the drive system. Its a lot of parts for this part of the project and a lot of things need to be correct in order for a nice run. It took a bit of time to get it right and it was a lot of tinkering.
In the above picture one can see the drive system unit with CNC milled motor brackets to fit my needs. The 3D printed pulleys are not perfect, they sometimes make annoying sounds, but I think I let it be for now. The gearing works perfect. reducing 1000RPM at 20% duty to 35RPM on the drive shaft, which will translate into approximately 0.45m/s ground speed, which is a quite good speed for a lawnmower. The Motors are connected to VECS´s (which is the motor controller) and the VECS´s are connected to the Jetson TX2 over USB. The VESC are controlled over ROS running on the Jetson TX2.
In the above pictures the drive system is mounted in the rear part of the robot. Everything fitted nicely and the assembly was straight forward. The right wheel in the picture is still not fully assembled, Just mounted for demonstration.
Here is a quick video spinning the wheels with VESC + ROS.