# Robot description in the robot.yaml format, version 0.1.

format_version: "0.1"
name: FinsROV
summary: FinsROV is a low-cost, open-source underwater robot platform designed for underwater tasks and research in robotics and AI.
category: drone
difficulty: intermediate
license:
  hardware: MIT
  software: GPL-3.0-only
source:
  repository: https://github.com/IWIN-FINS/FinsROV-An-Underwater-Camera-Based-Multi-Robot-Platform
  ref: 1bc38e83d8af669339c7a86f0a14e2180676347f
tools:
  - 3D printer
  - CNC machine
  - soldering iron
  - Keil MDK (for STM32 development)
  - ST-Link programmer
files:
  cad: Structure/
  images:
    - Structure/Images/7b80ec35-c6fb-4c0f-8c48-df3105a3505e.png
specs:
  power_w: 13.75
  height_cm: 15
  weight_kg: 4.85
build_steps:
  - title: Prepare structural components
  - title: Assemble the waterproof compartment and internal circuitry
  - title: Install the eight thrusters
  - title: Mount the four servos and dual 2-DOF gimbals
  - title: Install the four water depth sensors
  - title: Connect and solder all electronic components
  - title: Flash the lower-level controller firmware (STM32F4)
  - title: Test and calibrate the system