What is on each robot. To log in and work on them, see Connecting to the Robot. For the vendor’s own specifications and manuals, see DEEP Robotics Resources.
M20 Pro
The Lynx M20 Pro is a wheeled-legged robot: four legs, each ending in an individually controllable wheel, plus two LiDARs, two wide-angle cameras and three onboard computers.
LiDAR
The M20 Pro uses two RoboSense Airy 96-line digital LiDARs, each covering a full 360° × 90° hemisphere at about 860,000 points per second (roughly 1.7 million pts/s combined). Unlike the Livox Mid-360’s non-repetitive prism scan, the Airy uses a repetitive scan pattern, producing consistent, complete frames every sweep that suit SLAM, navigation and real-time obstacle avoidance. With one sensor on each end, the robot gets near-spherical coverage, seeing the ground at its feet and obstacles overhead that a conventional 30–40° vertical spinner would miss.
Onboard computers
All three are RK3588 boards with 16 GB of RAM, running Ubuntu 20.04 and ROS 2 Foxy.
| Host | Role | Addresses | What runs there |
|---|---|---|---|
| AOS | Motion and sensing | 10.21.41.1 (Wi-Fi), 10.21.31.103 (wired) |
RL locomotion, LiDAR, IMU and GPS drivers, cameras, odometry, height map, Lightning-LM |
| NOS | Navigation | 10.21.31.106 |
Localization, mapping, map server, path planning, charging |
| GOS | Spare | 10.21.31.104 |
Empty; free for our own code |
GOS is the M20 Pro’s extra computer and runs almost nothing out of the box, which makes it a good home for our own algorithms without taking CPU away from locomotion or navigation.
Firmware
The robot runs system V1.2.0.1 with controller app V1.5.26. Firmware is updated over the air from the controller (Settings > About Device); see the Lynx M20 Pro user manual on DEEP Robotics downloads for the procedure and the M20 SDK deploy guide for the firmware version the SDK needs. Back up /var/opt/robot/data/maps before updating.
X30 Pro
The Jueying X30 Pro has three onboard computers, one each for locomotion, perception and navigation, and four LiDARs that together see all the way around the body. The perception computer is an RK3588. The navigation computer runs DEEP Robotics’ SLAM, planner and robot_server; our tools talk to the vendor stack only through its official interfaces.
More X30 hardware and access notes to come.