Repository: fictionlab/docs
Pull request #44: content: Remake Leo Rover specification
Author: login: Krzemien97
Created: 2025-04-18T11:56:41Z | Merged: 2025-04-23T14:08:55Z

- Complete remake of the Leo Rover specification to get it more in line with Rapha Rover
- Currently only hardware specification of Leo Rover 1.9 is up to date, software will be updated later by @bjsowa 
- Added separate (unlisted) pages with Leo 1.8 and Leo 1.7 (and below) specifications
- Replaced some of the images (schematics) with SVGs
- Added JSDoc to the LinkButton


Diff:
diff --git a/cspell.json b/cspell.json
index 58f2b56f..57c8a706 100644
--- a/cspell.json
+++ b/cspell.json
@@ -24,7 +24,7 @@
         "ackermann",
         "alvar",
         "amcl",
-        "arbotix",
+        "Arbotix",
         "Arducam",
         "artag",
         "Balena",
@@ -39,8 +39,16 @@
         "distrobox",
         "Dynamixel",
         "EEPROM",
+        "eProsima",
+        "Fiberlogy",
+        "Fibox",
+        "Fictionlab",
+        "Fixposition",
+        "formatcheck",
+        "Freespace",
         "FTDI",
         "Gbps",
+        "getent",
         "gmapping",
         "GNSS",
         "hokuyo",
@@ -63,8 +71,10 @@
         "Manfrotto",
         "Mbps",
         "Mecanum",
+        "microcontroller",
         "MIPI",
         "mobot",
+        "Monopod",
         "Morenia",
         "moveit",
         "MSTB",
@@ -78,8 +88,10 @@
         "pololu",
         "Rapha",
         "Raspicam",
+        "realsense",
         "Realtek",
-        "remmina",
+        "Remmina",
+        "rgba",
         "RGBW",
         "Robocontroller",
         "Romi",
diff --git a/docs/leo-rover/documentation/specification.mdx b/docs/leo-rover/documentation/specification.mdx
deleted file mode 100644
index 9de6a31f..00000000
--- a/docs/leo-rover/documentation/specification.mdx
+++ /dev/null
@@ -1,433 +0,0 @@
----
-title: Leo Rover specification
-sidebar_label: Specification
-sidebar_position: 2
-description: >-
-  Step-by-step guide to get your Leo Rover up and running, with tips on battery
-  installation, turning on the rover, and accessing the web UI
----
-
-import useBaseUrl from '@docusaurus/useBaseUrl';
-import Tabs from '@theme/Tabs';
-import TabItem from '@theme/TabItem';
-import Admonition from '@theme/Admonition';
-import FlexTable from '@site/src/components/FlexTable';
-import FlexTableItem from '@site/src/components/FlexTableItem';
-import ThemedImageZoom from '@site/src/components/ThemedImageZoom';
-
-# Leo Rover specification
-
-<ImageZoom
-  loading="eager"
-  src="/img/robots/leo/leo-rover.webp"
-  alt="Leo Rover 1.8"
-  width="1000"
-  height="1000"
-  figStyle={{
-    width: 400,
-  }}
-/>
-
-## Size and Performance
-
-**Weight:** 6,5 kg \
-**Dimensions:** 425x448x305 mm
-
-**Maximum linear speed:** ~0.4m/s \
-**Maximum angular speed:** ~60 deg/s
-
-**Estimated maximum obstacle size:** 70mm \
-**Protection rating:** IP55 compliant \
-**Run time:** Estimated 4 hours of nominal driving \
-**Connection range:** Up to 100m (with live video stream)
-
-### Dimensions
-
-<ThemedImageZoom
-  alt="Leo Rover Dimensions"
-  sources={{
-    light: useBaseUrl(
-      '/img/robots/leo/specification/leo-rover_dimensions-black.webp',
-    ),
-    dark: useBaseUrl(
-      '/img/robots/leo/specification/leo-rover_dimensions-white.webp',
-    ),
-  }}
-  width="1480"
-  height="2200"
-  figStyle={{
-    width: 600,
-  }}
-/>
-
-### Payload
-
-**Payload capacity:** ~5 kg \
-**Upper mounting platform dimensions:** 299 x 183 mm \
-**Hole grid:** 18 x 15 mm \
-**Holes:** 40 x Φ7mm + 22 x Φ5,5mm
-
-#### Connection interfaces
-
-- miniUSB waterproof socket
-- WiFi access point
-
-## Components
-
-### Wheels
-
-**Motors:** 4 x in-hub DC motor with 73.2:1 planetary gearbox and 12 PPR encoder
-\
-**Tire material:** rubber with foam insert (non-pneumatic) \
-**Inner rim diameter:** 71 mm \
-**Outer tire diameter:** ~130 mm \
-**Tire width:** ~70 mm
-
-### Battery
-
-Voltage: 11.1 V DC \
-Capacity: 5800 mAh \
-Type: 3S Li-Ion with internal BMS \
-Safety features:
-
-- short-circuit
-- overcurrent
-- discharge protection
-
-Max. current: 8A (total for whole Rover) \
-Estimated 4 hrs battery life (nominal driving)
-
-### Camera
-
-Camera resolution: 5 MPx \
-Lens: Fisheye with 160 degree diagonal field of view (IR non-filtered;
-night-vision allowed)
-
-### Network
-
-WiFi 2.4 or 5 GHz access point with external antenna \
-WiFi 2.4 or 5 GHz on internal RPi antennas for connectivity
-
-### Electronics
-
-<Tabs groupId="leo-rover-version">
-  <TabItem value='leo-1.8' label='Leo Rover v1.8'>
-    Raspberry Pi 4B as an on-board computer \
-    LeoCore as a real-time microcontroller
-
-    #### Internal open interfaces
-
-    Raspberry Pi:
-
-    - USB x2
-    - GPIO x20
-    - RJ45 Ethernet
-    - RPi display port
-    - Bluetooth 5.0 with BLE
-
-  </TabItem>
-  <TabItem value='leo-pre1.8' label='Leo Rover < v1.8'>
-    Raspberry Pi 3B+ as an on-board computer \
-    Core2-ROS as real-time microcontroller: STM32F4 (@168MHz, 192KB RAM, 1MB Flash)
-
-    #### Internal open interfaces
-
-    <FlexTable width='100%'>
-      <FlexTableItem width='50%'>
-
-        Raspberry Pi:
-
-        - USB x2
-        - GPIO x20
-        - RJ45 Ethernet
-        - RPi display port
-        - Bluetooth 5.0 with BLE
-
-      </FlexTableItem>
-      <FlexTableItem width='50%'>
-
-        Core2:
-
-        - 6 x servomotor interface with built-in DC/DC converter (selectable multiple voltage level)
-        - 4 x UART
-        - 3 x I2C
-        - 1 x SPI
-        - 1 x CAN
-        - 13 x ADC
-        - 8 x interrupt input
-
-      </FlexTableItem>
-    </FlexTable>
-
-  </TabItem>
-</Tabs>
-
-## Hardware structure
-
-<Tabs groupId="leo-rover-version">
-  <TabItem value="leo-1.8" label="Leo Rover v1.8">
-    <ThemedImageZoom
-      alt="Leo Rover 1.8 hardware diagram"
-      sources={{
-        light: useBaseUrl(
-          '/img/robots/leo/specification/leo-rover-v1.8_hardware-diagram_black.webp',
-        ),
-        dark: useBaseUrl(
-          '/img/robots/leo/specification/leo-rover-v1.8_hardware-diagram_white.webp',
-        ),
-      }}
-      width="1900"
-      height="1150"
-      figStyle={{
-        width: 800,
-      }}
-    />
-  </TabItem>
-  <TabItem value="leo-pre1.8" label="Leo Rover < v1.8">
-    <ThemedImageZoom
-      alt="Leo Rover pre1.8 hardware diagram"
-      sources={{
-        light: useBaseUrl(
-          '/img/robots/leo/specification/leo-rover-pre1.8_hardware-diagram_black.webp',
-        ),
-        dark: useBaseUrl(
-          '/img/robots/leo/specification/leo-rover-pre1.8_hardware-diagram_white.webp',
-        ),
-      }}
-      width="1600"
-      height="1150"
-      figStyle={{
-        width: 800,
-      }}
-    />
-  </TabItem>
-</Tabs>
-
-### Leo Rover controller
-
-<Tabs groupId="leo-rover-version">
-  <TabItem value='leo-1.8' label='Leo Rover v1.8'>
-
-    Leo Rover since version 1.8 is based on the LeoCore electronics board which,
-    together with the Raspberry Pi computer, controls all the Rover's
-    functionalities.
-
-    <ImageZoom
-      src='/img/robots/leo/specification/LeoCore.webp'
-      alt="LeoCore controller"
-      width='1600'
-      height='1120'
-      figStyle={{
-        width: 600,
-      }}
-    />
-
-    To make it easier, we listed all the interfaces used by Leo Rover as default.
-    Just to make sure you don't interfere with them when developing.
-
-    | Port                                    | Functionality                                                     |
-    | --------------------------------------- | ----------------------------------------------------------------- |
-    | Power input                             | to power the board                                                |
-    | RPi port                                | to power and RPi serial communication                             |
-    | LED output                              | to control the battery LED (to show system readiness)             |
-    | Motor output A, B, C & D (PWM H-bridge) | to power the rover motors and encodes                             |
-    | ST-link/V2 6-pin port                   | used to flash firmware to the board using ST-link/V2 (optionally) |
-
-  </TabItem>
-  <TabItem value='leo-pre1.8' label='Leo Rover < v1.8'>
-    Leo Rover is based on CORE2-ROS electronics board which, together with the Raspberry Pi
-    computer, controls all the Rover's functionalities.
-
-    We encourage you to check all the specs of the board itself as there's a great
-    number of interfaces to be used for further development.
-
-    <ImageZoom
-      src="/img/robots/leo/specification/core2ros.webp"
-      alt="Core2-ROS board included in previous versions of Leo Rover's"
-      width="791"
-      height="791"
-      figStyle={{
-        width:500,
-      }}
-    />
-
-    #### Electrical specification
-
-    | Interface           | Description                                    | Parameters                                                                                                 |
-    | ------------------- | ---------------------------------------------- | ---------------------------------------------------------------------------------------------------------- |
-    | Power input         | 6.8-16V                                        | 70...3000mA current consumption, depends on external modules standard 5.5/2.1 mm DC plug (centre-positive) |
-    | I/O ports           | 54 ports                                       | 3.3V/5V tolerant GPIOs series resistance is 330Ω                                                           |
-    | ADC                 | up to 13 channels                              | 12-bit resolution                                                                                          |
-    | PWM                 | up to 10 channels: 6x 3.3V, 4x H-bridge output | Period range for 3.3V outputs: 1...65535 μs Frequency range for H-bridge: 1Hz...21khz (in 16 steps)        |
-    | UART                | up to 4 channels                               | baudrate: 4800, 9600, 14400, 19200, 38400, 57600, 115200, 128000, 256000, 1000000, 2000000, 4000000        |
-    | I2C                 | 3 channels                                     | up to 400kHz                                                                                               |
-    | SPI                 | 1                                              | up to 1 Mbps                                                                                               |
-    | CAN                 | 1                                              | 500 kbps                                                                                                   |
-    | External Interrupts | up to 8 channels                               | triggered by an edge or voltage level                                                                      |
-
-    <ImageZoom
-      src="/img/robots/leo/specification/core2-cheatsheet.webp"
-      alt="Core2-ROS board cheat sheet"
-      width="1754"
-      height="1240"
-      caption='Source: Husarion Core2-ROS manual'
-    />
-
-    <Admonition type="tip">
-      To learn more about Core2-ROS visit [this site](https://husarion.com/manuals/core2/)
-    </Admonition>
-
-    #### Ports used by Leo Rover
-
-    To make it easier, we listed all the interfaces used by the Rover as default. Just to make sure you don't interfere with them when developing.
-
-    | Port                            | Functionality                                                                   |
-    | ------------------------------- | ------------------------------------------------------------------------------- |
-    | Power input                     | to power the board and Raspberry Pi                                             |
-    | hExt pin 1 (I/O)                | to control the battery LED (to show the system readiness)                       |
-    | hMot A, B, C & D (PWM H-bridge) | to power the rover motors and encodes                                           |
-    | USB hSerial                     | used to flash firmware to the board (doesn't need to be connected all the time) |
-
-  </TabItem>
-</Tabs>
-
-:::warning
-
-Take into consideration during the Rover assembly and development.
-
-The board corner where there's power connector and power-related components
-tends to interfere with sensitive electronics such as wheel encoders. Make sure
-the encoder cables don't run on top of the corner.
-
-:::
-
-### 3-pin power connector pinout
-
-By default Leo Rover uses standard [WEIPU](https://www.weipuconnector.com/)
-SP13-3 connectors for connecting battery, Main Electronics Box and other
-possible addons.
-
-<ThemedImageZoom
-  alt="Weipu SP13-3 pinout"
-  sources={{
-    light: useBaseUrl(
-      '/img/robots/leo/specification/weipu_SP13-3_pinout_black.webp',
-    ),
-    dark: useBaseUrl(
-      '/img/robots/leo/specification/weipu_SP13-3_pinout_white.webp',
-    ),
-  }}
-  width="900"
-  height="550"
-  figStyle={{
-    width: 400,
-  }}
-/>
-
-| Pin name | Cable color                   |
-| -------- | ----------------------------- |
-| DC-      | black                         |
-| DC+      | red / black with white stripe |
-| LED      | green                         |
-
-## Software structure
-
-<Tabs groupId="leo-rover-version">
-  <TabItem value="leo-1.8" label="Leo Rover v1.8">
-    <ThemedImageZoom
-      alt="Leo Rover 1.8 software diagram"
-      sources={{
-        light: useBaseUrl(
-          '/img/robots/leo/specification/leo-rover-v1.8_software-diagram_black.webp',
-        ),
-        dark: useBaseUrl(
-          '/img/robots/leo/specification/leo-rover-v1.8_software-diagram_white.webp',
-        ),
-      }}
-      width="2000"
-      height="914"
-      figStyle={{
-        width: 800,
-      }}
-    />
-  </TabItem>
-  <TabItem value="leo-pre1.8" label="Leo Rover < v1.8">
-    <ThemedImageZoom
-      alt="Leo Rover pre1.8 software diagram"
-      sources={{
-        light: useBaseUrl(
-          '/img/robots/leo/specification/leo-rover-pre1.8_software-diagram_black.webp',
-        ),
-        dark: useBaseUrl(
-          '/img/robots/leo/specification/leo-rover-pre1.8_software-diagram_white.webp',
-        ),
-      }}
-      width="1360"
-      height="600"
-      figStyle={{
-        width: 800,
-      }}
-    />
-  </TabItem>
-</Tabs>
-
-### Operating system
-
-Ubuntu 20.04 + ROS Noetic
-
-Alternatively: \
-Ubuntu 22.04 + ROS2 Humble
-
-:::info
-
-Ready-to-go UI located under `10.0.0.1` when using standard Leo Software Image.
-
-:::
-
-### Firmware
-
-This is the program that runs directly on the processor of the LeoCore board. It
-provides different functionalities to the Raspberry Pi through serial bus. The
-main features of the default
-[leocore_firmware](https://github.com/LeoRover/leocore_firmware) are:
-
-- differential drive controller
-  ([cmd_vel](https://docs.ros.org/en/melodic/api/geometry_msgs/html/msg/Twist.html)
-  interface)
-- wheel states monitoring
-  ([joint_states](https://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/JointState.html)
-  interface)
-- battery voltage monitoring
-- wheel odometry calculation
-- IMU support
-
-### ROS nodes
-
-When the Raspberry Pi boots, a set of ROS nodes is started. These nodes allow
-different features to be accessed via ROS topics and services. They are defined
-in [leo_bringup](https://github.com/fictionlab-archive/leo_bringup) package and
-mainly consist of:
-
-- [rosserial](https://wiki.ros.org/rosserial) node - communicates with the
-  firmware via serial interface and makes its features available via ROS topics
-  and services
-- [Rosbridge server](https://wiki.ros.org/rosbridge_suite) - creates WebSocket
-  that provides a JSON API to ROS functionality for non-ROS programs.
-- [Raspicam](https://github.com/UbiquityRobotics/raspicam_node) node - publishes
-  images from Raspberry Pi camera module to ROS image transport topic
-- [Web video server](https://wiki.ros.org/web_video_server) - provides a video
-  stream of a ROS image transport topic that can be accessed via HTTP
-- Leo system node - provides system shutdown and reboot via ROS topics.
-
-### Web user interface (UI)
-
-This is the user interface that can be accessed via a web browser. It
-communicates with Rosbridge server using
-[roslibjs](https://wiki.ros.org/roslibjs) to access functionalities that are
-available in ROS topics. The default
-[leo_ui](https://github.com/LeoRover/leo_ui) brings features such as:
-
-- control of the Rover via a keyboard or a virtual joystick
-- display of a camera stream from Web video server
-- output of current battery voltage measurement
-- reboot and shutdown buttons
diff --git a/docs/leo-rover/documentation/specification/_category_.json b/docs/leo-rover/documentation/specification/_category_.json
new file mode 100644
index 00000000..ac08a506
--- /dev/null
+++ b/docs/leo-rover/documentation/specification/_category_.json
@@ -0,0 +1,4 @@
+{
+  "collapsible": false,
+  "collapsed": false
+}
diff --git a/docs/leo-rover/documentation/specification/specification-1.7.mdx b/docs/leo-rover/documentation/specification/specification-1.7.mdx
new file mode 100644
index 00000000..2290f43b
--- /dev/null
+++ b/docs/leo-rover/documentation/specification/specification-1.7.mdx
@@ -0,0 +1,353 @@
+---
+title: Leo Rover 1.7 and below specification
+sidebar_label: Leo Rover 1.7 and below
+sidebar_position: 2
+description: >-
+  Leo Rover 1.7 and below specifications: A compact, 4-wheeled,
+  remote-controlled robot for indoor/outdoor robotic project development,
+  learning, and research applications.
+unlisted: true
+---
+
+import useBaseUrl from '@docusaurus/useBaseUrl';
+import FlexTable from '@site/src/components/FlexTable';
+import FlexTableItem from '@site/src/components/FlexTableItem';
+import ThemedImageZoom from '@site/src/components/ThemedImageZoom';
+import LinkButton from '@site/src/components/LinkButton';
+
+:::info
+
+This is a technical specification of the older version of the Leo Rover that is
+no longer available for purchase. <br /> If you are looking for specification of
+the latest version of the Leo Rover, please visit:
+
+<LinkButton
+  to="/leo-rover/documentation/specification"
+  title="Leo Rover specification"
+  description="Step-by-step guide to get your Leo Rover up and running, with tips on battery
+  installation, turning on the rover, and accessing the web UI"
+/>
+
+:::
+
+<ImageZoom
+  loading="eager"
+  src="/img/robots/leo/leo-rover.webp"
+  alt="Leo Rover 1.8"
+  width="1000"
+  height="1000"
+  figStyle={{
+    width: 400,
+  }}
+/>
+
+## Size and Performance
+
+**Weight:** 6,5 kg \
+**Dimensions:** 425x448x305 mm
+
+**Maximum linear speed:** ~0.4m/s \
+**Maximum angular speed:** ~60 deg/s
+
+**Estimated maximum obstacle size:** 70mm \
+**Protection rating:** IP55 compliant \
+**Run time:** Estimated 4 hours of nominal driving \
+**Connection range:** Up to 100m (with live video stream)
+
+### Dimensions
+
+<ThemedImageZoom
+  alt="Leo Rover Dimensions"
+  sources={{
+    light: useBaseUrl(
+      '/img/robots/leo/specification/leo-rover_dimensions-black.webp',
+    ),
+    dark: useBaseUrl(
+      '/img/robots/leo/specification/leo-rover_dimensions-white.webp',
+    ),
+  }}
+  width="1480"
+  height="2200"
+  figStyle={{
+    width: 600,
+  }}
+/>
+
+### Payload
+
+**Payload capacity:** ~5 kg \
+**Upper mounting platform dimensions:** 299 x 183 mm \
+**Hole grid:** 18 x 15 mm \
+**Holes:** 40 x Φ7mm + 22 x Φ5,5mm
+
+#### Connection interfaces
+
+- miniUSB waterproof socket
+- WiFi access point
+
+## Components
+
+### Wheels
+
+**Motors:** 4 x in-hub DC motor with 73.2:1 planetary gearbox and 12 PPR encoder
+\
+**Tire material:** rubber with foam insert (non-pneumatic) \
+**Inner rim diameter:** 71 mm \
+**Outer tire diameter:** ~130 mm \
+**Tire width:** ~70 mm
+
+### Battery
+
+Voltage: 11.1 V DC \
+Capacity: 5800 mAh \
+Type: 3S Li-Ion with internal BMS \
+Safety features:
+
+- short-circuit
+- overcurrent
+- discharge protection
+
+Max. current: 8A (total for whole Rover) \
+Estimated 4 hrs battery life (nominal driving)
+
+### Camera
+
+Camera resolution: 5 MPx \
+Lens: Fisheye with 160 degree diagonal field of view (IR non-filtered;
+night-vision allowed)
+
+### Network
+
+WiFi 2.4 or 5 GHz access point with external antenna \
+WiFi 2.4 or 5 GHz on internal RPi antennas for connectivity
+
+### Electronics
+
+Raspberry Pi 3B+ as an on-board computer \
+Core2-ROS as real-time microcontroller: STM32F4 (@168MHz, 192KB RAM, 1MB Flash)
+
+#### Internal open interfaces
+
+<FlexTable width='100%'>
+  <FlexTableItem width='50%'>
+
+    Raspberry Pi:
+
+    - USB x2
+    - GPIO x20
+    - RJ45 Ethernet
+    - RPi display port
+    - Bluetooth 5.0 with BLE
+
+  </FlexTableItem>
+  <FlexTableItem width='50%'>
+
+    Core2:
+
+    - 6 x servomotor interface with built-in DC/DC converter (selectable multiple voltage level)
+    - 4 x UART
+    - 3 x I2C
+    - 1 x SPI
+    - 1 x CAN
+    - 13 x ADC
+    - 8 x interrupt input
+
+  </FlexTableItem>
+</FlexTable>
+
+## Hardware structure
+
+<ThemedImageZoom
+  alt="Leo Rover pre1.8 hardware diagram"
+  sources={{
+    light: useBaseUrl(
+      '/img/robots/leo/specification/leo-rover-pre1.8_hardware-diagram_black.webp',
+    ),
+    dark: useBaseUrl(
+      '/img/robots/leo/specification/leo-rover-pre1.8_hardware-diagram_white.webp',
+    ),
+  }}
+  width="1600"
+  height="1150"
+  figStyle={{
+    width: 800,
+  }}
+/>
+
+### Leo Rover controller
+
+Leo Rover is based on CORE2-ROS electronics board which, together with the
+Raspberry Pi computer, controls all the Rover's functionalities.
+
+We encourage you to check all the specs of the board itself as there's a great
+number of interfaces to be used for further development.
+
+<ImageZoom
+  src="/img/robots/leo/specification/core2ros.webp"
+  alt="Core2-ROS board included in previous versions of Leo Rover's"
+  width="791"
+  height="791"
+  figStyle={{
+    width: 500,
+  }}
+/>
+
+#### Electrical specification
+
+| Interface           | Description                                    | Parameters                                                                                                 |
+| ------------------- | ---------------------------------------------- | ---------------------------------------------------------------------------------------------------------- |
+| Power input         | 6.8-16V                                        | 70...3000mA current consumption, depends on external modules standard 5.5/2.1 mm DC plug (centre-positive) |
+| I/O ports           | 54 ports                                       | 3.3V/5V tolerant GPIOs series resistance is 330Ω                                                           |
+| ADC                 | up to 13 channels                              | 12-bit resolution                                                                                          |
+| PWM                 | up to 10 channels: 6x 3.3V, 4x H-bridge output | Period range for 3.3V outputs: 1...65535 μs Frequency range for H-bridge: 1Hz...21khz (in 16 steps)        |
+| UART                | up to 4 channels                               | baudrate: 4800, 9600, 14400, 19200, 38400, 57600, 115200, 128000, 256000, 1000000, 2000000, 4000000        |
+| I2C                 | 3 channels                                     | up to 400kHz                                                                                               |
+| SPI                 | 1                                              | up to 1 Mbps                                                                                               |
+| CAN                 | 1                                              | 500 kbps                                                                                                   |
+| External Interrupts | up to 8 channels                               | triggered by an edge or voltage level                                                                      |
+
+<ImageZoom
+  src="/img/robots/leo/specification/core2-cheatsheet.webp"
+  alt="Core2-ROS board cheat sheet"
+  width="1754"
+  height="1240"
+  caption="Source: Husarion Core2-ROS manual"
+/>
+
+:::tip
+
+To learn more about Core2-ROS visit
+[this site](https://husarion.com/manuals/core2/)
+
+:::
+
+#### Ports used by Leo Rover
+
+To make it easier, we listed all the interfaces used by the Rover as default.
+Just to make sure you don't interfere with them when developing.
+
+| Port                            | Functionality                                                                   |
+| ------------------------------- | ------------------------------------------------------------------------------- |
+| Power input                     | to power the board and Raspberry Pi                                             |
+| hExt pin 1 (I/O)                | to control the battery LED (to show the system readiness)                       |
+| hMot A, B, C & D (PWM H-bridge) | to power the rover motors and encodes                                           |
+| USB hSerial                     | used to flash firmware to the board (doesn't need to be connected all the time) |
+
+:::warning
+
+Take into consideration during the Rover assembly and development.
+
+The board corner where there's power connector and power-related components
+tends to interfere with sensitive electronics such as wheel encoders. Make sure
+the encoder cables don't run on top of the corner.
+
+:::
+
+### 3-pin power connector pinout
+
+By default Leo Rover uses standard [WEIPU](https://www.weipuconnector.com/)
+SP13-3 connectors for connecting battery, Main Electronics Box and other
+possible addons.
+
+<ThemedImageZoom
+  alt="Weipu SP13-3 pinout"
+  sources={{
+    light: useBaseUrl(
+      '/img/robots/leo/specification/weipu_SP13-3_pinout_black.webp',
+    ),
+    dark: useBaseUrl(
+      '/img/robots/leo/specification/weipu_SP13-3_pinout_white.webp',
+    ),
+  }}
+  width="900"
+  height="550"
+  figStyle={{
+    width: 400,
+  }}
+/>
+
+| Pin name | Cable color                   |
+| -------- | ----------------------------- |
+| DC-      | black                         |
+| DC+      | red / black with white stripe |
+| LED      | green                         |
+
+## Software structure
+
+<ThemedImageZoom
+  alt="Leo Rover pre1.8 software diagram"
+  sources={{
+    light: useBaseUrl(
+      '/img/robots/leo/specification/leo-rover-pre1.8_software-diagram_black.webp',
+    ),
+    dark: useBaseUrl(
+      '/img/robots/leo/specification/leo-rover-pre1.8_software-diagram_white.webp',
+    ),
+  }}
+  width="1360"
+  height="600"
+  figStyle={{
+    width: 800,
+  }}
+/>
+
+### Operating system
+
+Ubuntu 20.04 + ROS Noetic
+
+Alternatively: \
+Ubuntu 22.04 + ROS2 Humble
+
+:::info
+
+Ready-to-go UI located under `10.0.0.1` when using standard Leo Software Image.
+
+:::
+
+### Firmware
+
+This is the program that runs directly on the processor of the LeoCore board. It
+provides different functionalities to the Raspberry Pi through serial bus. The
+main features of the default
+[leocore_firmware](https://github.com/LeoRover/leocore_firmware) are:
+
+- differential drive controller
+  ([cmd_vel](https://docs.ros.org/en/melodic/api/geometry_msgs/html/msg/Twist.html)
+  interface)
+- wheel states monitoring
+  ([joint_states](https://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/JointState.html)
+  interface)
+- battery voltage monitoring
+- wheel odometry calculation
+- IMU support
+
+### ROS nodes
+
+When the Raspberry Pi boots, a set of ROS nodes is started. These nodes allow
+different features to be accessed via ROS topics and services. They are defined
+in [leo_bringup](https://github.com/fictionlab-archive/leo_bringup) package and
+mainly consist of:
+
+- [rosserial](https://wiki.ros.org/rosserial) node - communicates with the
+  firmware via serial interface and makes its features available via ROS topics
+  and services
+- [Rosbridge server](https://wiki.ros.org/rosbridge_suite) - creates WebSocket
+  that provides a JSON API to ROS functionality for non-ROS programs.
+- [Raspicam](https://github.com/UbiquityRobotics/raspicam_node) node - publishes
+  images from Raspberry Pi camera module to ROS image transport topic
+- [Web video server](https://wiki.ros.org/web_video_server) - provides a video
+  stream of a ROS image transport topic that can be accessed via HTTP
+- Leo system node - provides system shutdown and reboot via ROS topics.
+
+### Web user interface (UI)
+
+This is the user interface that can be accessed via a web browser. It
+communicates with Rosbridge server using
+[roslibjs](https://wiki.ros.org/roslibjs) to access functionalities that are
+available in ROS topics. The default
+[leo_ui](https://github.com/LeoRover/leo_ui) brings features such as:
+
+- control of the Rover via a keyboard or a virtual joystick
+- display of a camera stream from Web video server
+- output of current battery voltage measurement
+- reboot and shutdown buttons
diff --git a/docs/leo-rover/documentation/specification/specification-1.8.mdx b/docs/leo-rover/documentation/specification/specification-1.8.mdx
new file mode 100644
index 00000000..cf9b8e71
--- /dev/null
+++ b/docs/leo-rover/documentation/specification/specification-1.8.mdx
@@ -0,0 +1,300 @@
+---
+title: Leo Rover 1.8 specification
+sidebar_label: Leo Rover 1.8
+sidebar_position: 1
+description: >-
+  Leo Rover 1.8 specifications: A compact, 4-wheeled, remote-controlled robot
+  for indoor/outdoor robotic project development, learning, and research
+  applications.
+unlisted: true
+---
+
+import useBaseUrl from '@docusaurus/useBaseUrl';
+import ThemedImageZoom from '@site/src/components/ThemedImageZoom';
+import LinkButton from '@site/src/components/LinkButton';
+
+:::info
+
+This is a technical specification of the older version of the Leo Rover that is
+no longer available for purchase. <br /> If you are looking for specification of
+the latest version of the Leo Rover, please visit:
+
+<LinkButton
+  to="/leo-rover/documentation/specification"
+  title="Leo Rover specification"
+  description="Step-by-step guide to get your Leo Rover up and running, with tips on battery
+  installation, turning on the rover, and accessing the web UI"
+/>
+
+:::
+
+<ImageZoom
+  loading="eager"
+  src="/img/robots/leo/leo-rover.webp"
+  alt="Leo Rover 1.8"
+  width="1000"
+  height="1000"
+  figStyle={{
+    width: 400,
+  }}
+/>
+
+## Size and Performance
+
+**Weight:** 6,5 kg \
+**Dimensions:** 425x448x305 mm
+
+**Maximum linear speed:** ~0.4m/s \
+**Maximum angular speed:** ~60 deg/s
+
+**Estimated maximum obstacle size:** 70mm \
+**Protection rating:** IP55 compliant \
+**Run time:** Estimated 4 hours of nominal driving \
+**Connection range:** Up to 100m (with live video stream)
+
+### Dimensions
+
+<ThemedImageZoom
+  alt="Leo Rover Dimensions"
+  sources={{
+    light: useBaseUrl(
+      '/img/robots/leo/specification/leo-rover_dimensions-black.webp',
+    ),
+    dark: useBaseUrl(
+      '/img/robots/leo/specification/leo-rover_dimensions-white.webp',
+    ),
+  }}
+  width="1480"
+  height="2200"
+  figStyle={{
+    width: 600,
+  }}
+/>
+
+### Payload
+
+**Payload capacity:** ~5 kg \
+**Upper mounting platform dimensions:** 299 x 183 mm \
+**Hole grid:** 18 x 15 mm \
+**Holes:** 40 x Φ7mm + 22 x Φ5,5mm
+
+#### Connection interfaces
+
+- miniUSB waterproof socket
+- WiFi access point
+
+## Components
+
+### Wheels
+
+**Motors:** 4 x in-hub DC motor with 73.2:1 planetary gearbox and 12 PPR encoder
+\
+**Tire material:** rubber with foam insert (non-pneumatic) \
+**Inner rim diameter:** 71 mm \
+**Outer tire diameter:** ~130 mm \
+**Tire width:** ~70 mm
+
+### Battery
+
+Voltage: 11.1 V DC \
+Capacity: 5800 mAh \
+Type: 3S Li-Ion with internal BMS \
+Safety features:
+
+- short-circuit
+- overcurrent
+- discharge protection
+
+Max. current: 8A (total for whole Rover) \
+Estimated 4 hrs battery life (nominal driving)
+
+### Camera
+
+Camera resolution: 5 MPx \
+Lens: Fisheye with 160 degree diagonal field of view (IR non-filtered;
+night-vision allowed)
+
+### Network
+
+WiFi 2.4 or 5 GHz access point with external antenna \
+WiFi 2.4 or 5 GHz on internal RPi antennas for connectivity
+
+### Electronics
+
+Raspberry Pi 4B as an on-board computer \
+ LeoCore as a real-time microcontroller
+
+#### Internal open interfaces
+
+Raspberry Pi:
+
+- USB x2
+- GPIO x20
+- RJ45 Ethernet
+- RPi display port
+- Bluetooth 5.0 with BLE
+
+## Hardware structure
+
+<ThemedImageZoom
+  alt="Leo Rover 1.8 hardware diagram"
+  sources={{
+    light: useBaseUrl(
+      '/img/robots/leo/specification/leo-rover-v1.8_hardware-diagram_black.webp',
+    ),
+    dark: useBaseUrl(
+      '/img/robots/leo/specification/leo-rover-v1.8_hardware-diagram_white.webp',
+    ),
+  }}
+  width="1900"
+  height="1150"
+  figStyle={{
+    width: 800,
+  }}
+/>
+
+### Leo Rover controller
+
+Leo Rover since version 1.8 is based on the LeoCore electronics board which,
+together with the Raspberry Pi computer, controls all the Rover's
+functionalities.
+
+<ImageZoom
+  src="/img/robots/leo/specification/LeoCore.webp"
+  alt="LeoCore controller"
+  width="1600"
+  height="1120"
+  figStyle={{
+    width: 600,
+  }}
+/>
+
+To make it easier, we listed all the interfaces used by Leo Rover as default.
+Just to make sure you don't interfere with them when developing.
+
+| Port                                    | Functionality                                                     |
+| --------------------------------------- | ----------------------------------------------------------------- |
+| Power input                             | to power the board                                                |
+| RPi port                                | to power and RPi serial communication                             |
+| LED output                              | to control the battery LED (to show system readiness)             |
+| Motor output A, B, C & D (PWM H-bridge) | to power the rover motors and encodes                             |
+| ST-link/V2 6-pin port                   | used to flash firmware to the board using ST-link/V2 (optionally) |
+
+:::warning
+
+Take into consideration during the Rover assembly and development.
+
+The board corner where there's power connector and power-related components
+tends to interfere with sensitive electronics such as wheel encoders. Make sure
+the encoder cables don't run on top of the corner.
+
+:::
+
+### 3-pin power connector pinout
+
+By default Leo Rover uses standard [WEIPU](https://www.weipuconnector.com/)
+SP13-3 connectors for connecting battery, Main Electronics Box and other
+possible addons.
+
+<ThemedImageZoom
+  alt="Weipu SP13-3 pinout"
+  sources={{
+    light: useBaseUrl(
+      '/img/robots/leo/specification/weipu_SP13-3_pinout_black.webp',
+    ),
+    dark: useBaseUrl(
+      '/img/robots/leo/specification/weipu_SP13-3_pinout_white.webp',
+    ),
+  }}
+  width="900"
+  height="550"
+  figStyle={{
+    width: 400,
+  }}
+/>
+
+| Pin name | Cable color                   |
+| -------- | ----------------------------- |
+| DC-      | black                         |
+| DC+      | red / black with white stripe |
+| LED      | green                         |
+
+## Software structure
+
+<ThemedImageZoom
+  alt="Leo Rover 1.8 software diagram"
+  sources={{
+    light: useBaseUrl(
+      '/img/robots/leo/specification/leo-rover-v1.8_software-diagram_black.webp',
+    ),
+    dark: useBaseUrl(
+      '/img/robots/leo/specification/leo-rover-v1.8_software-diagram_white.webp',
+    ),
+  }}
+  width="2000"
+  height="914"
+  figStyle={{
+    width: 800,
+  }}
+/>
+
+### Operating system
+
+Ubuntu 20.04 + ROS Noetic
+
+Alternatively: \
+Ubuntu 22.04 + ROS2 Humble
+
+:::info
+
+Ready-to-go UI located under `10.0.0.1` when using standard Leo Software Image.
+
+:::
+
+### Firmware
+
+This is the program that runs directly on the processor of the LeoCore board. It
+provides different functionalities to the Raspberry Pi through serial bus. The
+main features of the default
+[leocore_firmware](https://github.com/LeoRover/leocore_firmware) are:
+
+- differential drive controller
+  ([cmd_vel](https://docs.ros.org/en/melodic/api/geometry_msgs/html/msg/Twist.html)
+  interface)
+- wheel states monitoring
+  ([joint_states](https://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/JointState.html)
+  interface)
+- battery voltage monitoring
+- wheel odometry calculation
+- IMU support
+
+### ROS nodes
+
+When the Raspberry Pi boots, a set of ROS nodes is started. These nodes allow
+different features to be accessed via ROS topics and services. They are defined
+in [leo_bringup](https://github.com/fictionlab-archive/leo_bringup) package and
+mainly consist of:
+
+- [rosserial](https://wiki.ros.org/rosserial) node - communicates with the
+  firmware via serial interface and makes its features available via ROS topics
+  and services
+- [Rosbridge server](https://wiki.ros.org/rosbridge_suite) - creates WebSocket
+  that provides a JSON API to ROS functionality for non-ROS programs.
+- [Raspicam](https://github.com/UbiquityRobotics/raspicam_node) node - publishes
+  images from Raspberry Pi camera module to ROS image transport topic
+- [Web video server](https://wiki.ros.org/web_video_server) - provides a video
+  stream of a ROS image transport topic that can be accessed via HTTP
+- Leo system node - provides system shutdown and reboot via ROS topics.
+
+### Web user interface (UI)
+
+This is the user interface that can be accessed via a web browser. It
+communicates with Rosbridge server using
+[roslibjs](https://wiki.ros.org/roslibjs) to access functionalities that are
+available in ROS topics. The default
+[leo_ui](https://github.com/LeoRover/leo_ui) brings features such as:
+
+- control of the Rover via a keyboard or a virtual joystick
+- display of a camera stream from Web video server
+- output of current battery voltage measurement
+- reboot and shutdown buttons
diff --git a/docs/leo-rover/documentation/specification/specification.mdx b/docs/leo-rover/documentation/specification/specification.mdx
new file mode 100644
index 00000000..b9f595f5
--- /dev/null
+++ b/docs/leo-rover/documentation/specification/specification.mdx
@@ -0,0 +1,399 @@
+---
+title: Leo Rover specification
+sidebar_label: Specification
+sidebar_position: 2
+description: >-
+  Discover the specifications of Leo Rover, a small, remote-controlled,
+  4-wheeled robot that eases the development of robotic projects both outdoors
+  and indoors. Perfect for learning and research.
+---
+
+import useBaseUrl from '@docusaurus/useBaseUrl';
+import Tabs from '@theme/Tabs';
+import TabItem from '@theme/TabItem';
+import Admonition from '@theme/Admonition';
+import FlexTable from '@site/src/components/FlexTable';
+import FlexTableItem from '@site/src/components/FlexTableItem';
+import ThemedImageZoom from '@site/src/components/ThemedImageZoom';
+import Powerbox from '@site/docs/leo-rover/addons/powerbox/_powerbox-product.mdx';
+import HardwareDiagram from '@site/static/img/robots/leo/specification/leo-1.9-hardware-diagram.svg';
+import WeipuDiagram from '@site/static/img/robots/leo/specification/weipu-SP13-3-pinout.svg';
+
+<ImageZoom
+  loading="eager"
+  src="/img/robots/leo/leo-rover.webp"
+  alt="Leo Rover 1.8"
+  width="1000"
+  height="1000"
+  figStyle={{
+    width: 600,
+  }}
+/>
+
+<details>
+  <summary>Specifications for previous versions of the Leo Rover</summary>
+
+This is a technical specification of the Leo Rover 1.9. <br /> If you are
+looking for specification of the older version of the Leo Rover, please visit:
+
+<FlexTable width="100%">
+  <FlexTableItem style={{ padding: '0 0.5rem 0 0.5rem' }}>
+    <LinkButton docId="leo-rover/documentation/specification/specification-1.8" />
+  </FlexTableItem>
+  <FlexTableItem style={{ padding: '0 0.5rem 0 0.5rem' }}>
+    <LinkButton docId="leo-rover/documentation/specification/specification-1.7" />
+  </FlexTableItem>
+</FlexTable>
+
+</details>
+
+---
+
+## Introduction
+
+Leo Rover is a compact, 4-wheeled, remote-controlled robot designed for indoor
+and outdoor robotic project development, learning, and research applications. It
+is equipped with a built-in computer, a high-resolution camera, and a powerful
+battery, making it suitable for various tasks, including autonomous navigation,
+obstacle detection, and remote monitoring.
+
+### Main parameters
+
+| Parameter                    |                Value                |
+| :--------------------------- | :---------------------------------: |
+| Dimensions (LxWxH)           |      424 mm x 445 mm x 303 mm       |
+| Weight                       |           $\approx$ 7 kg            |
+| Maximum payload              |          $\approx$ 5 kg\*           |
+| Maximum linear speed         |          $\approx$ 0.4 m/s          |
+| Maximum angular speed        |          $\approx$ 1 Rad/s          |
+| Estimated max. obstacle size |           $\approx$ 70 mm           |
+| IP protection rating         |                IP 55                |
+| Operating temperature        |          -10 °C to +40 °C           |
+| Run time                     | up to 4 hours with standard battery |
+| Connection range             |             Up to 100 m             |
+
+\* - on standard tires
+
+#### Traction parameters
+
+| Parameter                    |    Value    |
+| :--------------------------- | :---------: |
+| Track Width                  |   354 mm    |
+| Wheelbase length             |   295 mm    |
+| Ground clearance             |   108 mm    |
+| Climb grade (no payload)     | 45° (100 %) |
+| Climb grade with 5kg payload | 45° (100 %) |
+| Hill grade traversal         | 45° (100 %) |
+| Nominal torque               |    4 Nm     |
+| Maximum torque               |   5.6 Nm    |
+
+### Rover overview
+
+<ThemedImageZoom
+  alt="Overview of main features of Rapha Rover"
+  sources={{
+    light: useBaseUrl(
+      '/img/robots/leo/specification/leo-1.9-overview-light.webp',
+    ),
+    dark: useBaseUrl(
+      '/img/robots/leo/specification/leo-1.9-overview-dark.webp',
+    ),
+  }}
+  width="1855"
+  height="2200"
+  figStyle={{
+    width: 600,
+  }}
+  caption="Leo Rover overview"
+/>
+
+## Hardware specification
+
+### Dimensions
+
+<ThemedImageZoom
+  alt="Leo Rover Dimensions"
+  sources={{
+    light: useBaseUrl(
+      '/img/robots/leo/specification/leo-1.9_dimensions-light.webp',
+    ),
+    dark: useBaseUrl(
+      '/img/robots/leo/specification/leo-1.9_dimensions-dark.webp',
+    ),
+  }}
+  width="1300"
+  height="1800"
+  figStyle={{
+    width: 600,
+  }}
+  caption="Dimensions of Leo Rover"
+/>
+
+### Components
+
+|              Name | Quantity | Description                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       |
+| ----------------: | :------: | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
+| Built-in computer |    1     | Raspberry Pi 5 - A single-board computer developed by Raspberry Pi Ltd.<br /> <br /> Key features: <ul><li>Processor: Broadcom BCM2712, 2.4GHz quad-core 64-bit Arm Cortex-A76 CPU with cryptography extensions. </li><li> Memory: 4GB LPDDR4X-4267 SDRAM.</li><li>Storage: Micro SD card slot with support for high-speed SDR104 mode; PCIe 2.0 x1 interface for fast peripherals (requires separate M.2 HAT or adapter).</li><li>Connectivity:<ul><li>Gigabit Ethernet (supports PoE+ with separate PoE+ HAT)</li><li>Dual-band 802.11ac Wi-Fi</li><li> Bluetooth 5.0 / Bluetooth Low Energy (BLE)</li><li>2 x USB 3.0 ports supporting simultaneous 5Gbps operation</li><li> 2 x USB 2.0 5 ports</li><li> 2 x micro-HDMI ports supporting resolutions up to 4kp60 with HDR support</li><li>2 x 4-lane MIPI camera/display transceivers</li><li>standard 40-pin GPIO header</li></ul></li></ul> |
+|     Wi-Fi adapter |    1     | Alfa AWUS036ACS: USB 2.0 Wi-Fi adapter (Realtek RTL8811AU). Dual-band 802.11ac (AC600: 150 Mbps 2.4GHz + 433 Mbps 5GHz).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          |
+|           Antenna |    1     | Dual-band (2.4 GHz / 5 GHz) placed on the top of the robot.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       |
+|      Front camera |    1     | Arducam 12.3MP 477M HQ Camera Module for Raspberry Pi with 158°(D) M12 Wide Angle Lens.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           |
+|         DC motors |    4     | Bühler Motors 1.61.077.414 connected to LeoCore.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  |
+
+### Block diagram
+
+<HardwareDiagram
+  className="themedSvg"
+  style={{
+    width: '700px',
+  }}
+/>
+
+### LeoCore controller
+
+Leo Rover since version 1.8 is based on the LeoCore electronics board which,
+together with the Raspberry Pi computer, controls all the Rover's
+functionalities.
+
+<ImageZoom
+  src="/img/robots/leo/specification/LeoCore.webp"
+  alt="LeoCore controller"
+  width="1600"
+  height="1120"
+  figStyle={{
+    width: 600,
+  }}
+/>
+
+To make it easier, we listed all the interfaces used by Leo Rover as default.
+Just to make sure you don't interfere with them when developing.
+
+| Port                                    | Functionality                                                     |
+| --------------------------------------- | ----------------------------------------------------------------- |
+| Power input                             | to power the board                                                |
+| RPi port                                | to power and RPi serial communication                             |
+| LED output                              | to control the battery LED (to show system readiness)             |
+| Motor output A, B, C & D (PWM H-bridge) | to power the rover motors and encodes                             |
+| 5-pin debug port                        | used to flash firmware to the board using ST-link/V2 (optionally) |
+
+### Drivetrain
+
+The standard configuration of the Leo Rover features a drivetrain comprising
+four fixed wheels. This design enhances the mobility of the Rover, enabling it
+to execute precise maneuvers such as:
+
+- turning in place ( around center of mass of the rover)
+- turning around a curve
+
+In addition, Leo Rover has a differential suspension system, which allows it to
+traverse uneven terrain and obstacles. The suspension system is designed to
+provide a smooth ride and maintain stability while driving over rough surfaces.
+
+#### Motors
+
+The Rover is equipped with four in-hub DC motors, each featuring a planetary
+gearbox with a gear ratio of 73.2:1. This configuration allows for precise
+control of the Rover's movement and enables it to navigate various terrains with
+ease. The motors are equipped with encoders that provide feedback on the wheel's
+position and speed, allowing for accurate control of the Rover's movement.
+
+#### Wheels
+
+As standard, Leo Rover comes with rubber tires with a diameter of about 130 mm.
+Whole drive assembly has following characteristics:
+
+|                        Parameter |               Value                |
+| -------------------------------: | :--------------------------------: |
+| Tire size (diameter x thickness) | $\approx$ 125 mm x $\approx$ 70 mm |
+|                   Tire lock type |            non beadlock            |
+|                      Tire insert |     soft foam (non pneumatic)      |
+|               Wheel rim diameter |               98 mm                |
+
+### Battery & charging
+
+Leo Rover is powered by a 3S Li-Ion battery with a capacity of 7000 mAh. The
+battery is equipped with an internal battery management system (BMS) that
+provides protection against overcharging, over-discharging, and short circuits.
+The battery is designed to be easily replaceable, allowing for quick swaps
+during extended use.
+
+Each battery pack has following characteristics:
+
+|            Parameter |                  Value                   |
+| -------------------: | :--------------------------------------: |
+|              Voltage |             11.1 V (nominal)             |
+|         Battery type |                  Li-Ion                  |
+|         Battery cell |       18650 (Samsung INR18650-35E)       |
+|             Capacity |       7 Ah (84,7 Wh - flight safe)       |
+|    Battery pack type |                   3S2P                   |
+| Maximum output power |             $\approx$ 120 W              |
+|       Safety systems | Overcurrent, Reverse polarity protection |
+
+#### Connectors
+
+By default Leo Rover uses standard [WEIPU](https://www.weipuconnector.com/)
+SP13-3 connectors for connecting battery, Main Electronics Box and other
+possible addons.
+
+<FlexTable>
+  <FlexTableItem>
+
+| Pin name | Cable color                   |
+| -------- | ----------------------------- |
+| DC-      | black                         |
+| DC+      | red / black with white stripe |
+| LED      | green                         |
+
+  </FlexTableItem>
+  <FlexTableItem style={{padding: '0 0.5rem 0 0.5rem'}}>
+    <WeipuDiagram
+      className='themedSvg'
+      style={{
+        width:'400px',
+      }} />
+  </FlexTableItem>
+</FlexTable>
+
+#### Battery charger
+
+The Rover is equipped with a 2A 12.6V Li-Ion battery charger that can charge the
+standard battery in approximately 4 hours. The charger is designed to be compact
+and portable, making it easy to transport and use in various environments. The
+charger is equipped with a standard 5.5/2.1 mm DC plug.
+
+The charger is outfitted with an LED status indicator designed to provide
+information about the charging status of the battery. A green LED signifies that
+the battery has reached full charge, while a red LED indicates that the battery
+is currently in the charging process.
+
+|       Parameter |              Value              |
+| --------------: | :-----------------------------: |
+|         Voltage |             12.6 V              |
+|         Current |            2 A (max)            |
+|    Charger type |             Li-Ion              |
+|    Charger plug | DC 5.5/2.1 mm (center positive) |
+| Charger adapter |  Weipu SP13-3 - DC 5.5/2.1 mm   |
+
+To connect the charger to the battery, a Weipu SP13-3 - DC 5.5/2.1 mm adapter is
+included with each Rover. This adapter allows for easy and secure connection
+between the charger and the battery, ensuring that the charging process is
+efficient and safe.
+
+For more information on how to charge the battery, please refer to the Leo Rover
+Getting started guide:
+
+<LinkButton docId="leo-rover/documentation/getting-started" />
+
+### Payload specification
+
+Leo Rover is designed to be modular and customizable, allowing users to attach
+various payloads and accessories to the Rover. The Rover features a mounting
+platform on the top, which can accommodate different payloads and accessories.
+The payload capacity of the Rover is approximately 5 kg, making it suitable for
+a wide range of applications, including research, education, and development.
+
+|                                  Parameter |                    Value                     |
+| -----------------------------------------: | :------------------------------------------: |
+|                           Payload capacity |                $\approx$ 5 kg                |
+|                          Hole grid spacing |                18 mm x 15 mm                 |
+|                   Mounting hole dimensions | 7 mm, equipped with T-KFS-M4-1 press-in nuts |
+| Main mounting plate dimensions (L x W x D) |            299 mm x 183 mm x 2 mm            |
+
+Apart from the mounting plate, it is possible to mount payloads directly to
+v-slot extrusions of the Leo Rover.
+
+In order to power the payload, we recommend purchasing a Powerbox module which
+replaces the additional quarter of the rover.
+
+<Powerbox />
+
+## Software specification
+
+{/* TODO for now copied from Rapha Rover and merged with 1.8 */}
+
+Rapha Rover's software heavily relies on The
+[Robot Operating System (ROS)](https://ros.org/) which offers the robot the
+following functionalities:
+
+- Abstraction layer facilitating communication between software components.
+- Open-source software components, maintained by the community.
+- A collection of standard message interfaces.
+- Tools for introspection.
+
+The primary segment of the software stack is partitioned into several
+[ROS Nodes](https://wiki.ros.org/Nodes), treated as computational units, each
+doing one logical thing. The nodes interact via:
+
+- **Topics** - Named buses enabling message exchange between nodes. They are
+  strongly typed and employ anonymous publish/subscribe semantics.
+- **Services** - A client/server mechanism for remote procedure calls between
+  nodes. The service server accepts remote procedure requests identified by name
+  and type, which must be known to the service client beforehand.
+- **Parameters** - Sets of key/value pairs maintained separately by each node,
+  utilized for node configuration during startup and runtime without
+  necessitating code modifications.
+- **TF transforms** - A single transform describes the relationship between 2
+  coordinate frames at a specific point in time. TF transforms are distributed
+  between nodes using topics, but, for the sake of clarity, we will refer to
+  them as separate entities.
+
+There are two important software components which don't run as native ROS nodes:
+
+- **Controller firmware** - The firmware itself acts as a ROS node but uses
+  eProsima's
+  [Micro XRCE-DDS](https://micro-xrce-dds.docs.eprosima.com/en/latest/) as its
+  middleware. Thus, it requires the presence of the Micro-ROS Agent on the
+  built-in computer to communicate with other ROS nodes.
+- **Web User Interface** - The WebUI establishes a connection with the Rosbridge
+  Server via WebSocket transport layer and employs the rosbridge protocol for
+  communication with the ROS nodes.
+
+<ThemedImageZoom
+  alt="Leo Rover 1.8 software diagram"
+  sources={{
+    light: useBaseUrl(
+      '/img/robots/leo/specification/leo-rover-v1.8_software-diagram_black.webp',
+    ),
+    dark: useBaseUrl(
+      '/img/robots/leo/specification/leo-rover-v1.8_software-diagram_white.webp',
+    ),
+  }}
+  width="2000"
+  height="914"
+  figStyle={{
+    width: 800,
+  }}
+/>
+
+## Firmware specification
+
+{/* TODO not touched for 1.9 */}
+
+This is the program that runs directly on the processor of the LeoCore board. It
+provides different functionalities to the Raspberry Pi through serial bus. The
+main features of the default
+[leocore_firmware](https://github.com/LeoRover/leocore_firmware) are:
+
+- differential drive controller
+  ([cmd_vel](https://docs.ros.org/en/melodic/api/geometry_msgs/html/msg/Twist.html)
+  interface)
+- wheel states monitoring
+  ([joint_states](https://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/JointState.html)
+  interface)
+- battery voltage monitoring
+- wheel odometry calculation
+- IMU support
+
+## Web user interface (UI)
+
+{/* TODO not touched for 1.9 */}
+
+This is the user interface that can be accessed via a web browser. It
+communicates with Rosbridge server using
+[roslibjs](https://wiki.ros.org/roslibjs) to access functionalities that are
+available in ROS topics. The default
+[leo_ui](https://github.com/LeoRover/leo_ui) brings features such as:
+
+- control of the Rover via a keyboard or a virtual joystick
+- display of a camera stream from Web video server
+- output of current battery voltage measurement
+- reboot and shutdown buttons
diff --git a/docs/leo-rover/overview.mdx b/docs/leo-rover/overview.mdx
index 2168ae7b..5199dad3 100644
--- a/docs/leo-rover/overview.mdx
+++ b/docs/leo-rover/overview.mdx
@@ -261,7 +261,11 @@ your scientific project.
 
 #### Full specification is available here
 
-<LinkButton docId="leo-rover/documentation/specification" />
+<LinkButton
+  to="/leo-rover/documentation/specification"
+  title="Leo Rover specification"
+  description="Leo Rover specifications: A compact, 4-wheeled, remote-controlled robot for indoor/outdoor robotic project development, learning, and research applications."
+/>
 
 ## Shop links
 
diff --git a/sidebars.ts b/sidebars.ts
index 957b5f3c..f83fda68 100644
--- a/sidebars.ts
+++ b/sidebars.ts
@@ -1,17 +1,5 @@
 import type { SidebarsConfig } from '@docusaurus/plugin-content-docs';
-
-/**
- * Creating a sidebar enables you to:
- - create an ordered group of docs
- - render a sidebar for each doc of that group
- - provide next/previous navigation
-
- The sidebars can be generated from the filesystem, or explicitly defined here.
-
- Create as many sidebars as you want.
- */
 const sidebars: SidebarsConfig = {
-  // By default, Docusaurus generates a sidebar from the docs folder structure
   leoSidebar: [
     {
       type: 'category',
@@ -23,19 +11,6 @@ const sidebars: SidebarsConfig = {
   ],
   raphaSidebar: [{ type: 'autogenerated', dirName: 'rapha-rover' }],
   guidelines: [{ type: 'autogenerated', dirName: 'guidelines' }],
-
-  // But you can create a sidebar manually
-  /*
-  tutorialSidebar: [
-    'intro',
-    'hello',
-    {
-      type: 'category',
-      label: 'Tutorial',
-      items: ['tutorial-basics/create-a-document'],
-    },
-  ],
-   */
 };
 
 export default sidebars;
diff --git a/src/components/LinkButton/index.tsx b/src/components/LinkButton/index.tsx
index b543befc..5fbe89da 100644
--- a/src/components/LinkButton/index.tsx
+++ b/src/components/LinkButton/index.tsx
@@ -56,6 +56,22 @@ function findSidebarItemLink(
   return undefined;
 }
 
+/**
+ * Renders a styled link button component.
+ *
+ * This component generates a link (`<a>` tag) styled as a button.
+ * It determines the link target and associated metadata (title, description, icon)
+ * based on either a `docId` prop (to look up a document within the documentation context)
+ * or direct `to`/`url` props.
+ *
+ * Throws an error if neither `docId`, `to`, nor `url` is provided.
+ * It uses context (`useDocsSidebar`, `useDocById`) when `docId` is specified.
+ *
+ * @param {LinkButtonProps} props - The properties for the LinkButton component. Requires either `docId`, `to`, or `url`.
+ * @returns {JSX.Element} A styled anchor element (`<a>`).
+ * @throws {Error} If no `to`, `docId`, or `url` prop is specified.
+ * @throws {Error} If `docId` is provided but the sidebar context is missing or the item cannot be found.
+ */
 export default function LinkButton(props: LinkButtonProps) {
   if (!props.to && !props.docId && !props.url)
     throw new Error('No ID or link specified!');
diff --git a/src/css/custom.css b/src/css/custom.css
index 869655fc..273f996b 100644
--- a/src/css/custom.css
+++ b/src/css/custom.css
@@ -70,6 +70,13 @@ div[class^='announcementBar_'] {
   margin: auto;
 }
 
+.themedSvg {
+  max-width: 100%;
+  height: auto;
+  display: block;
+  margin: auto;
+}
+
 [data-theme='light'] .themedSvg {
   fill: black;
 }
diff --git a/static/img/robots/leo/specification/leo-1.9-hardware-diagram.svg b/static/img/robots/leo/specification/leo-1.9-hardware-diagram.svg
new file mode 100644
index 00000000..685f7268
--- /dev/null
+++ b/static/img/robots/leo/specification/leo-1.9-hardware-diagram.svg
@@ -0,0 +1,3 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
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Reviews:
user: login: bjsowa
state: CHANGES_REQUESTED
author_association: MEMBER
submitted_at: 2025-04-23T12:32:49Z
user: login: bjsowa
state: APPROVED
author_association: MEMBER
submitted_at: 2025-04-23T14:08:37Z

Review comments:
diff_hunk: @@ -0,0 +1,399 @@
+---
+title: Leo Rover specification
+sidebar_label: Specification
+sidebar_position: 2
+description: >-
+  Discover the specifications of Leo Rover, a small, remote-controlled,
+  4-wheeled robot that eases the development of robotic projects both outdoors
+  and indoors. Perfect for learning and research.
+---
+
+import useBaseUrl from '@docusaurus/useBaseUrl';
+import Tabs from '@theme/Tabs';
+import TabItem from '@theme/TabItem';
+import Admonition from '@theme/Admonition';
+import FlexTable from '@site/src/components/FlexTable';
+import FlexTableItem from '@site/src/components/FlexTableItem';
+import ThemedImageZoom from '@site/src/components/ThemedImageZoom';
+import Powerbox from '@site/docs/leo-rover/addons/powerbox/_powerbox-product.mdx';
+import HardwareDiagram from '@site/static/img/robots/leo/specification/leo-1.9-hardware-diagram.svg';
+import WeipuDiagram from '@site/static/img/robots/leo/specification/weipu-SP13-3-pinout.svg';
+
+<ImageZoom
+  loading="eager"
+  src="/img/robots/leo/leo-rover.webp"
+  alt="Leo Rover 1.8"
+  width="1000"
+  height="1000"
+  figStyle={{
+    width: 600,
+  }}
+/>
+
+<details>
+  <summary>Specifications for previous versions of the Leo Rover</summary>
+
+This is a technical specification of the Leo Rover 1.9. <br /> If you are
+looking for specification of the older version of the Leo Rover, please visit:
+
+<FlexTable width="100%">
+  <FlexTableItem style={{ padding: '0 0.5rem 0 0.5rem' }}>
+    <LinkButton docId="leo-rover/documentation/specification/specification-1.8" />
+  </FlexTableItem>
+  <FlexTableItem style={{ padding: '0 0.5rem 0 0.5rem' }}>
+    <LinkButton docId="leo-rover/documentation/specification/specification-1.7" />
+  </FlexTableItem>
+</FlexTable>
+
+</details>
+
+---
+
+## Introduction
+
+Leo Rover is a compact, 4-wheeled, remote-controlled robot designed for indoor
+and outdoor robotic project development, learning, and research applications. It
+is equipped with a built-in computer, a high-resolution camera, and a powerful
+battery, making it suitable for various tasks, including autonomous navigation,
+obstacle detection, and remote monitoring.
+
+### Main parameters
+
+| Parameter                    |                Value                |
+| :--------------------------- | :---------------------------------: |
+| Dimensions (LxWxH)           |      424 mm x 445 mm x 303 mm       |
+| Weight                       |               ~6.5 kg               |
path: docs/leo-rover/documentation/specification/specification.mdx
user: login: bjsowa
body: It's 7kg
```suggestion
| Weight                       |               ~7 kg               |
```
created_at: 2025-04-23T12:15:10Z
author_association: MEMBER
diff_hunk: @@ -0,0 +1,399 @@
+---
+title: Leo Rover specification
+sidebar_label: Specification
+sidebar_position: 2
+description: >-
+  Discover the specifications of Leo Rover, a small, remote-controlled,
+  4-wheeled robot that eases the development of robotic projects both outdoors
+  and indoors. Perfect for learning and research.
+---
+
+import useBaseUrl from '@docusaurus/useBaseUrl';
+import Tabs from '@theme/Tabs';
+import TabItem from '@theme/TabItem';
+import Admonition from '@theme/Admonition';
+import FlexTable from '@site/src/components/FlexTable';
+import FlexTableItem from '@site/src/components/FlexTableItem';
+import ThemedImageZoom from '@site/src/components/ThemedImageZoom';
+import Powerbox from '@site/docs/leo-rover/addons/powerbox/_powerbox-product.mdx';
+import HardwareDiagram from '@site/static/img/robots/leo/specification/leo-1.9-hardware-diagram.svg';
+import WeipuDiagram from '@site/static/img/robots/leo/specification/weipu-SP13-3-pinout.svg';
+
+<ImageZoom
+  loading="eager"
+  src="/img/robots/leo/leo-rover.webp"
+  alt="Leo Rover 1.8"
+  width="1000"
+  height="1000"
+  figStyle={{
+    width: 600,
+  }}
+/>
+
+<details>
+  <summary>Specifications for previous versions of the Leo Rover</summary>
+
+This is a technical specification of the Leo Rover 1.9. <br /> If you are
+looking for specification of the older version of the Leo Rover, please visit:
+
+<FlexTable width="100%">
+  <FlexTableItem style={{ padding: '0 0.5rem 0 0.5rem' }}>
+    <LinkButton docId="leo-rover/documentation/specification/specification-1.8" />
+  </FlexTableItem>
+  <FlexTableItem style={{ padding: '0 0.5rem 0 0.5rem' }}>
+    <LinkButton docId="leo-rover/documentation/specification/specification-1.7" />
+  </FlexTableItem>
+</FlexTable>
+
+</details>
+
+---
+
+## Introduction
+
+Leo Rover is a compact, 4-wheeled, remote-controlled robot designed for indoor
+and outdoor robotic project development, learning, and research applications. It
+is equipped with a built-in computer, a high-resolution camera, and a powerful
+battery, making it suitable for various tasks, including autonomous navigation,
+obstacle detection, and remote monitoring.
+
+### Main parameters
+
+| Parameter                    |                Value                |
+| :--------------------------- | :---------------------------------: |
+| Dimensions (LxWxH)           |      424 mm x 445 mm x 303 mm       |
+| Weight                       |               ~6.5 kg               |
path: docs/leo-rover/documentation/specification/specification.mdx
user: login: bjsowa
body: Replace every ~ with `$\approx$ `
```suggestion
| Weight                       |              $\approx$ 6.5 kg               |
```
created_at: 2025-04-23T12:15:43Z
author_association: MEMBER
diff_hunk: @@ -0,0 +1,399 @@
+---
+title: Leo Rover specification
+sidebar_label: Specification
+sidebar_position: 2
+description: >-
+  Discover the specifications of Leo Rover, a small, remote-controlled,
+  4-wheeled robot that eases the development of robotic projects both outdoors
+  and indoors. Perfect for learning and research.
+---
+
+import useBaseUrl from '@docusaurus/useBaseUrl';
+import Tabs from '@theme/Tabs';
+import TabItem from '@theme/TabItem';
+import Admonition from '@theme/Admonition';
+import FlexTable from '@site/src/components/FlexTable';
+import FlexTableItem from '@site/src/components/FlexTableItem';
+import ThemedImageZoom from '@site/src/components/ThemedImageZoom';
+import Powerbox from '@site/docs/leo-rover/addons/powerbox/_powerbox-product.mdx';
+import HardwareDiagram from '@site/static/img/robots/leo/specification/leo-1.9-hardware-diagram.svg';
+import WeipuDiagram from '@site/static/img/robots/leo/specification/weipu-SP13-3-pinout.svg';
+
+<ImageZoom
+  loading="eager"
+  src="/img/robots/leo/leo-rover.webp"
+  alt="Leo Rover 1.8"
+  width="1000"
+  height="1000"
+  figStyle={{
+    width: 600,
+  }}
+/>
+
+<details>
+  <summary>Specifications for previous versions of the Leo Rover</summary>
+
+This is a technical specification of the Leo Rover 1.9. <br /> If you are
+looking for specification of the older version of the Leo Rover, please visit:
+
+<FlexTable width="100%">
+  <FlexTableItem style={{ padding: '0 0.5rem 0 0.5rem' }}>
+    <LinkButton docId="leo-rover/documentation/specification/specification-1.8" />
+  </FlexTableItem>
+  <FlexTableItem style={{ padding: '0 0.5rem 0 0.5rem' }}>
+    <LinkButton docId="leo-rover/documentation/specification/specification-1.7" />
+  </FlexTableItem>
+</FlexTable>
+
+</details>
+
+---
+
+## Introduction
+
+Leo Rover is a compact, 4-wheeled, remote-controlled robot designed for indoor
+and outdoor robotic project development, learning, and research applications. It
+is equipped with a built-in computer, a high-resolution camera, and a powerful
+battery, making it suitable for various tasks, including autonomous navigation,
+obstacle detection, and remote monitoring.
+
+### Main parameters
+
+| Parameter                    |                Value                |
+| :--------------------------- | :---------------------------------: |
+| Dimensions (LxWxH)           |      424 mm x 445 mm x 303 mm       |
+| Weight                       |               ~6.5 kg               |
+| Maximum payload              |               ~5 kg\*               |
+| Maximum linear speed         |              ~0.4 m/s               |
+| Maximum angular speed        |              ~1 Rad/s               |
+| Estimated max. obstacle size |                ~70 m                |
path: docs/leo-rover/documentation/specification/specification.mdx
user: login: bjsowa
body: Should be in millimeters:
```suggestion
| Estimated max. obstacle size |                ~70 mm                |
```
created_at: 2025-04-23T12:16:03Z
author_association: MEMBER
diff_hunk: @@ -0,0 +1,399 @@
+---
+title: Leo Rover specification
+sidebar_label: Specification
+sidebar_position: 2
+description: >-
+  Discover the specifications of Leo Rover, a small, remote-controlled,
+  4-wheeled robot that eases the development of robotic projects both outdoors
+  and indoors. Perfect for learning and research.
+---
+
+import useBaseUrl from '@docusaurus/useBaseUrl';
+import Tabs from '@theme/Tabs';
+import TabItem from '@theme/TabItem';
+import Admonition from '@theme/Admonition';
+import FlexTable from '@site/src/components/FlexTable';
+import FlexTableItem from '@site/src/components/FlexTableItem';
+import ThemedImageZoom from '@site/src/components/ThemedImageZoom';
+import Powerbox from '@site/docs/leo-rover/addons/powerbox/_powerbox-product.mdx';
+import HardwareDiagram from '@site/static/img/robots/leo/specification/leo-1.9-hardware-diagram.svg';
+import WeipuDiagram from '@site/static/img/robots/leo/specification/weipu-SP13-3-pinout.svg';
+
+<ImageZoom
+  loading="eager"
+  src="/img/robots/leo/leo-rover.webp"
+  alt="Leo Rover 1.8"
+  width="1000"
+  height="1000"
+  figStyle={{
+    width: 600,
+  }}
+/>
+
+<details>
+  <summary>Specifications for previous versions of the Leo Rover</summary>
+
+This is a technical specification of the Leo Rover 1.9. <br /> If you are
+looking for specification of the older version of the Leo Rover, please visit:
+
+<FlexTable width="100%">
+  <FlexTableItem style={{ padding: '0 0.5rem 0 0.5rem' }}>
+    <LinkButton docId="leo-rover/documentation/specification/specification-1.8" />
+  </FlexTableItem>
+  <FlexTableItem style={{ padding: '0 0.5rem 0 0.5rem' }}>
+    <LinkButton docId="leo-rover/documentation/specification/specification-1.7" />
+  </FlexTableItem>
+</FlexTable>
+
+</details>
+
+---
+
+## Introduction
+
+Leo Rover is a compact, 4-wheeled, remote-controlled robot designed for indoor
+and outdoor robotic project development, learning, and research applications. It
+is equipped with a built-in computer, a high-resolution camera, and a powerful
+battery, making it suitable for various tasks, including autonomous navigation,
+obstacle detection, and remote monitoring.
+
+### Main parameters
+
+| Parameter                    |                Value                |
+| :--------------------------- | :---------------------------------: |
+| Dimensions (LxWxH)           |      424 mm x 445 mm x 303 mm       |
+| Weight                       |               ~6.5 kg               |
+| Maximum payload              |               ~5 kg\*               |
+| Maximum linear speed         |              ~0.4 m/s               |
+| Maximum angular speed        |              ~1 Rad/s               |
+| Estimated max. obstacle size |                ~70 m                |
+| IP protection rating         |                IP 55                |
+| Operating temperature        |          -10 °C to +40 °C           |
+| Run time                     | up to 4 hours with standard battery |
+| Connection range             |             Up to 100 m             |
+
+\* - on standard tires
+
+#### Traction parameters
+
+| Parameter                    |    Value    |
+| :--------------------------- | :---------: |
+| Track Width                  |   354 mm    |
+| Wheelbase length             |   295 mm    |
+| Ground clearance             |   108 mm    |
+| Climb grade (no payload)     | 45° ( ~58%) |
+| Climb grade with 5kg payload | 45° ( ~36%) |
+| Hill grade traversal         | 45° ( ~58%) |
path: docs/leo-rover/documentation/specification/specification.mdx
user: login: bjsowa
body: This doesn't make sense
created_at: 2025-04-23T12:16:23Z
author_association: MEMBER
diff_hunk: @@ -0,0 +1,399 @@
+---
+title: Leo Rover specification
+sidebar_label: Specification
+sidebar_position: 2
+description: >-
+  Discover the specifications of Leo Rover, a small, remote-controlled,
+  4-wheeled robot that eases the development of robotic projects both outdoors
+  and indoors. Perfect for learning and research.
+---
+
+import useBaseUrl from '@docusaurus/useBaseUrl';
+import Tabs from '@theme/Tabs';
+import TabItem from '@theme/TabItem';
+import Admonition from '@theme/Admonition';
+import FlexTable from '@site/src/components/FlexTable';
+import FlexTableItem from '@site/src/components/FlexTableItem';
+import ThemedImageZoom from '@site/src/components/ThemedImageZoom';
+import Powerbox from '@site/docs/leo-rover/addons/powerbox/_powerbox-product.mdx';
+import HardwareDiagram from '@site/static/img/robots/leo/specification/leo-1.9-hardware-diagram.svg';
+import WeipuDiagram from '@site/static/img/robots/leo/specification/weipu-SP13-3-pinout.svg';
+
+<ImageZoom
+  loading="eager"
+  src="/img/robots/leo/leo-rover.webp"
+  alt="Leo Rover 1.8"
+  width="1000"
+  height="1000"
+  figStyle={{
+    width: 600,
+  }}
+/>
+
+<details>
+  <summary>Specifications for previous versions of the Leo Rover</summary>
+
+This is a technical specification of the Leo Rover 1.9. <br /> If you are
+looking for specification of the older version of the Leo Rover, please visit:
+
+<FlexTable width="100%">
+  <FlexTableItem style={{ padding: '0 0.5rem 0 0.5rem' }}>
+    <LinkButton docId="leo-rover/documentation/specification/specification-1.8" />
+  </FlexTableItem>
+  <FlexTableItem style={{ padding: '0 0.5rem 0 0.5rem' }}>
+    <LinkButton docId="leo-rover/documentation/specification/specification-1.7" />
+  </FlexTableItem>
+</FlexTable>
+
+</details>
+
+---
+
+## Introduction
+
+Leo Rover is a compact, 4-wheeled, remote-controlled robot designed for indoor
+and outdoor robotic project development, learning, and research applications. It
+is equipped with a built-in computer, a high-resolution camera, and a powerful
+battery, making it suitable for various tasks, including autonomous navigation,
+obstacle detection, and remote monitoring.
+
+### Main parameters
+
+| Parameter                    |                Value                |
+| :--------------------------- | :---------------------------------: |
+| Dimensions (LxWxH)           |      424 mm x 445 mm x 303 mm       |
+| Weight                       |               ~6.5 kg               |
+| Maximum payload              |               ~5 kg\*               |
+| Maximum linear speed         |              ~0.4 m/s               |
+| Maximum angular speed        |              ~1 Rad/s               |
+| Estimated max. obstacle size |                ~70 m                |
+| IP protection rating         |                IP 55                |
+| Operating temperature        |          -10 °C to +40 °C           |
+| Run time                     | up to 4 hours with standard battery |
+| Connection range             |             Up to 100 m             |
+
+\* - on standard tires
+
+#### Traction parameters
+
+| Parameter                    |    Value    |
+| :--------------------------- | :---------: |
+| Track Width                  |   354 mm    |
+| Wheelbase length             |   295 mm    |
+| Ground clearance             |   108 mm    |
+| Climb grade (no payload)     | 45° ( ~58%) |
+| Climb grade with 5kg payload | 45° ( ~36%) |
+| Hill grade traversal         | 45° ( ~58%) |
+| Nominal torque               |    4 Nm     |
+| Maximum torque               |   5.6 Nm    |
+
+### Rover overview
+
+<ThemedImageZoom
+  alt="Overview of main features of Rapha Rover"
+  sources={{
+    light: useBaseUrl(
+      '/img/robots/leo/specification/leo-1.9-overview-light.webp',
+    ),
+    dark: useBaseUrl(
+      '/img/robots/leo/specification/leo-1.9-overview-dark.webp',
+    ),
+  }}
+  width="1855"
+  height="2200"
+  figStyle={{
+    width: 600,
+  }}
+  caption="Leo Rover overview"
+/>
+
+## Hardware specification
+
+### Dimensions
+
+<ThemedImageZoom
+  alt="Leo Rover Dimensions"
+  sources={{
+    light: useBaseUrl(
+      '/img/robots/leo/specification/leo-1.9_dimensions-light.webp',
+    ),
+    dark: useBaseUrl(
+      '/img/robots/leo/specification/leo-1.9_dimensions-dark.webp',
+    ),
+  }}
+  width="1300"
+  height="1800"
+  figStyle={{
+    width: 600,
+  }}
+  caption="Dimensions of Leo Rover"
+/>
+
+### Components
+
+|              Name | Quantity | Description                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                         |
+| ----------------: | :------: | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| Built-in computer |    1     | Raspberry Pi 5 - A single-board computer developed by Raspberry Pi Ltd.<br /> <br /> Key features: <ul><li>Processor: Broadcom BCM2712, 2.4GHz quad-core 64-bit Arm Cortex-A76 CPU with cryptography extensions. </li><li> Memory: 4GB LPDDR4X-4267 SDRAM.</li><li>Storage: Micro SD card slot with support for high-speed SDR104 mode; PCIe 2.0 x1 interface for fast peripherals (requires separate 3 M.2 HAT or adapter).</li><li>Connectivity:<ul><li>Gigabit Ethernet (supports PoE+ with separate PoE+ HAT)</li><li>Dual-band 802.11ac Wi-Fi</li><li> Bluetooth 5.0 / Bluetooth Low Energy (BLE)</li><li>2 x USB 3.0 ports supporting simultaneous 5Gbps operation</li><li> 2 x USB 2.0 5 ports</li><li> 2 x micro-HDMI ports supporting resolutions up to 4kp60 with HDR support</li><li>2 x 4-lane MIPI camera/display transceivers</li><li>standard 40-pin GPIO header</li></ul></li></ul> |
path: docs/leo-rover/documentation/specification/specification.mdx
user: login: bjsowa
body: Typo?
```suggestion
| Built-in computer |    1     | Raspberry Pi 5 - A single-board computer developed by Raspberry Pi Ltd.<br /> <br /> Key features: <ul><li>Processor: Broadcom BCM2712, 2.4GHz quad-core 64-bit Arm Cortex-A76 CPU with cryptography extensions. </li><li> Memory: 4GB LPDDR4X-4267 SDRAM.</li><li>Storage: Micro SD card slot with support for high-speed SDR104 mode; PCIe 2.0 x1 interface for fast peripherals (requires separate M.2 HAT or adapter).</li><li>Connectivity:<ul><li>Gigabit Ethernet (supports PoE+ with separate PoE+ HAT)</li><li>Dual-band 802.11ac Wi-Fi</li><li> Bluetooth 5.0 / Bluetooth Low Energy (BLE)</li><li>2 x USB 3.0 ports supporting simultaneous 5Gbps operation</li><li> 2 x USB 2.0 5 ports</li><li> 2 x micro-HDMI ports supporting resolutions up to 4kp60 with HDR support</li><li>2 x 4-lane MIPI camera/display transceivers</li><li>standard 40-pin GPIO header</li></ul></li></ul> |
```
created_at: 2025-04-23T12:21:02Z
author_association: MEMBER
diff_hunk: @@ -0,0 +1,399 @@
+---
+title: Leo Rover specification
+sidebar_label: Specification
+sidebar_position: 2
+description: >-
+  Discover the specifications of Leo Rover, a small, remote-controlled,
+  4-wheeled robot that eases the development of robotic projects both outdoors
+  and indoors. Perfect for learning and research.
+---
+
+import useBaseUrl from '@docusaurus/useBaseUrl';
+import Tabs from '@theme/Tabs';
+import TabItem from '@theme/TabItem';
+import Admonition from '@theme/Admonition';
+import FlexTable from '@site/src/components/FlexTable';
+import FlexTableItem from '@site/src/components/FlexTableItem';
+import ThemedImageZoom from '@site/src/components/ThemedImageZoom';
+import Powerbox from '@site/docs/leo-rover/addons/powerbox/_powerbox-product.mdx';
+import HardwareDiagram from '@site/static/img/robots/leo/specification/leo-1.9-hardware-diagram.svg';
+import WeipuDiagram from '@site/static/img/robots/leo/specification/weipu-SP13-3-pinout.svg';
+
+<ImageZoom
+  loading="eager"
+  src="/img/robots/leo/leo-rover.webp"
+  alt="Leo Rover 1.8"
+  width="1000"
+  height="1000"
+  figStyle={{
+    width: 600,
+  }}
+/>
+
+<details>
+  <summary>Specifications for previous versions of the Leo Rover</summary>
+
+This is a technical specification of the Leo Rover 1.9. <br /> If you are
+looking for specification of the older version of the Leo Rover, please visit:
+
+<FlexTable width="100%">
+  <FlexTableItem style={{ padding: '0 0.5rem 0 0.5rem' }}>
+    <LinkButton docId="leo-rover/documentation/specification/specification-1.8" />
+  </FlexTableItem>
+  <FlexTableItem style={{ padding: '0 0.5rem 0 0.5rem' }}>
+    <LinkButton docId="leo-rover/documentation/specification/specification-1.7" />
+  </FlexTableItem>
+</FlexTable>
+
+</details>
+
+---
+
+## Introduction
+
+Leo Rover is a compact, 4-wheeled, remote-controlled robot designed for indoor
+and outdoor robotic project development, learning, and research applications. It
+is equipped with a built-in computer, a high-resolution camera, and a powerful
+battery, making it suitable for various tasks, including autonomous navigation,
+obstacle detection, and remote monitoring.
+
+### Main parameters
+
+| Parameter                    |                Value                |
+| :--------------------------- | :---------------------------------: |
+| Dimensions (LxWxH)           |      424 mm x 445 mm x 303 mm       |
+| Weight                       |               ~6.5 kg               |
+| Maximum payload              |               ~5 kg\*               |
+| Maximum linear speed         |              ~0.4 m/s               |
+| Maximum angular speed        |              ~1 Rad/s               |
+| Estimated max. obstacle size |                ~70 m                |
+| IP protection rating         |                IP 55                |
+| Operating temperature        |          -10 °C to +40 °C           |
+| Run time                     | up to 4 hours with standard battery |
+| Connection range             |             Up to 100 m             |
+
+\* - on standard tires
+
+#### Traction parameters
+
+| Parameter                    |    Value    |
+| :--------------------------- | :---------: |
+| Track Width                  |   354 mm    |
+| Wheelbase length             |   295 mm    |
+| Ground clearance             |   108 mm    |
+| Climb grade (no payload)     | 45° ( ~58%) |
+| Climb grade with 5kg payload | 45° ( ~36%) |
+| Hill grade traversal         | 45° ( ~58%) |
+| Nominal torque               |    4 Nm     |
+| Maximum torque               |   5.6 Nm    |
+
+### Rover overview
+
+<ThemedImageZoom
+  alt="Overview of main features of Rapha Rover"
+  sources={{
+    light: useBaseUrl(
+      '/img/robots/leo/specification/leo-1.9-overview-light.webp',
+    ),
+    dark: useBaseUrl(
+      '/img/robots/leo/specification/leo-1.9-overview-dark.webp',
+    ),
+  }}
+  width="1855"
+  height="2200"
+  figStyle={{
+    width: 600,
+  }}
+  caption="Leo Rover overview"
+/>
+
+## Hardware specification
+
+### Dimensions
+
+<ThemedImageZoom
+  alt="Leo Rover Dimensions"
+  sources={{
+    light: useBaseUrl(
+      '/img/robots/leo/specification/leo-1.9_dimensions-light.webp',
+    ),
+    dark: useBaseUrl(
+      '/img/robots/leo/specification/leo-1.9_dimensions-dark.webp',
+    ),
+  }}
+  width="1300"
+  height="1800"
+  figStyle={{
+    width: 600,
+  }}
+  caption="Dimensions of Leo Rover"
+/>
+
+### Components
+
+|              Name | Quantity | Description                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                         |
+| ----------------: | :------: | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| Built-in computer |    1     | Raspberry Pi 5 - A single-board computer developed by Raspberry Pi Ltd.<br /> <br /> Key features: <ul><li>Processor: Broadcom BCM2712, 2.4GHz quad-core 64-bit Arm Cortex-A76 CPU with cryptography extensions. </li><li> Memory: 4GB LPDDR4X-4267 SDRAM.</li><li>Storage: Micro SD card slot with support for high-speed SDR104 mode; PCIe 2.0 x1 interface for fast peripherals (requires separate 3 M.2 HAT or adapter).</li><li>Connectivity:<ul><li>Gigabit Ethernet (supports PoE+ with separate PoE+ HAT)</li><li>Dual-band 802.11ac Wi-Fi</li><li> Bluetooth 5.0 / Bluetooth Low Energy (BLE)</li><li>2 x USB 3.0 ports supporting simultaneous 5Gbps operation</li><li> 2 x USB 2.0 5 ports</li><li> 2 x micro-HDMI ports supporting resolutions up to 4kp60 with HDR support</li><li>2 x 4-lane MIPI camera/display transceivers</li><li>standard 40-pin GPIO header</li></ul></li></ul> |
+|     Wi-Fi adapter |    1     | Alfa AWUS036ACS: USB 2.0 Wi-Fi adapter (Realtek RTL8811AU). Dual-band 802.11ac (AC600: 150 Mbps 2.4GHz + 433 Mbps 5GHz).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            |
+|           Antenna |    1     | Dual-band (2.4 GHz / 5 GHz) placed on the top of the robot.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                         |
+|      Front camera |    1     | Arducam 12.3MP 477M HQ Camera Module for Raspberry Pi with 158°(D) M12 Wide Angle Lens.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                             |
+|         DC motors |    4     | Bühler Motors 1.61.077.414 connected to LeoCore.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    |
+
+### Block diagram
+
+<HardwareDiagram
+  className="themedSvg"
+  style={{
+    width: '700px',
+  }}
+/>
+
+### LeoCore controller
+
+Leo Rover since version 1.8 is based on the LeoCore electronics board which,
+together with the Raspberry Pi computer, controls all the Rover's
+functionalities.
+
+<ImageZoom
+  src="/img/robots/leo/specification/LeoCore.webp"
+  alt="LeoCore controller"
+  width="1600"
+  height="1120"
+  figStyle={{
+    width: 600,
+  }}
+/>
+
+To make it easier, we listed all the interfaces used by Leo Rover as default.
+Just to make sure you don't interfere with them when developing.
+
+| Port                                    | Functionality                                                     |
+| --------------------------------------- | ----------------------------------------------------------------- |
+| Power input                             | to power the board                                                |
+| RPi port                                | to power and RPi serial communication                             |
+| LED output                              | to control the battery LED (to show system readiness)             |
+| Motor output A, B, C & D (PWM H-bridge) | to power the rover motors and encodes                             |
+| ST-link/V2 6-pin port                   | used to flash firmware to the board using ST-link/V2 (optionally) |
path: docs/leo-rover/documentation/specification/specification.mdx
user: login: bjsowa
body: ```suggestion
| 5-pin debug port                   | used to flash firmware to the board using ST-link/V2 (optionally) |
```
created_at: 2025-04-23T12:24:12Z
author_association: MEMBER
diff_hunk: @@ -0,0 +1,399 @@
+---
+title: Leo Rover specification
+sidebar_label: Specification
+sidebar_position: 2
+description: >-
+  Discover the specifications of Leo Rover, a small, remote-controlled,
+  4-wheeled robot that eases the development of robotic projects both outdoors
+  and indoors. Perfect for learning and research.
+---
+
+import useBaseUrl from '@docusaurus/useBaseUrl';
+import Tabs from '@theme/Tabs';
+import TabItem from '@theme/TabItem';
+import Admonition from '@theme/Admonition';
+import FlexTable from '@site/src/components/FlexTable';
+import FlexTableItem from '@site/src/components/FlexTableItem';
+import ThemedImageZoom from '@site/src/components/ThemedImageZoom';
+import Powerbox from '@site/docs/leo-rover/addons/powerbox/_powerbox-product.mdx';
+import HardwareDiagram from '@site/static/img/robots/leo/specification/leo-1.9-hardware-diagram.svg';
+import WeipuDiagram from '@site/static/img/robots/leo/specification/weipu-SP13-3-pinout.svg';
+
+<ImageZoom
+  loading="eager"
+  src="/img/robots/leo/leo-rover.webp"
+  alt="Leo Rover 1.8"
+  width="1000"
+  height="1000"
+  figStyle={{
+    width: 600,
+  }}
+/>
+
+<details>
+  <summary>Specifications for previous versions of the Leo Rover</summary>
+
+This is a technical specification of the Leo Rover 1.9. <br /> If you are
+looking for specification of the older version of the Leo Rover, please visit:
+
+<FlexTable width="100%">
+  <FlexTableItem style={{ padding: '0 0.5rem 0 0.5rem' }}>
+    <LinkButton docId="leo-rover/documentation/specification/specification-1.8" />
+  </FlexTableItem>
+  <FlexTableItem style={{ padding: '0 0.5rem 0 0.5rem' }}>
+    <LinkButton docId="leo-rover/documentation/specification/specification-1.7" />
+  </FlexTableItem>
+</FlexTable>
+
+</details>
+
+---
+
+## Introduction
+
+Leo Rover is a compact, 4-wheeled, remote-controlled robot designed for indoor
+and outdoor robotic project development, learning, and research applications. It
+is equipped with a built-in computer, a high-resolution camera, and a powerful
+battery, making it suitable for various tasks, including autonomous navigation,
+obstacle detection, and remote monitoring.
+
+### Main parameters
+
+| Parameter                    |                Value                |
+| :--------------------------- | :---------------------------------: |
+| Dimensions (LxWxH)           |      424 mm x 445 mm x 303 mm       |
+| Weight                       |               ~6.5 kg               |
+| Maximum payload              |               ~5 kg\*               |
+| Maximum linear speed         |              ~0.4 m/s               |
+| Maximum angular speed        |              ~1 Rad/s               |
+| Estimated max. obstacle size |                ~70 m                |
+| IP protection rating         |                IP 55                |
+| Operating temperature        |          -10 °C to +40 °C           |
+| Run time                     | up to 4 hours with standard battery |
+| Connection range             |             Up to 100 m             |
+
+\* - on standard tires
+
+#### Traction parameters
+
+| Parameter                    |    Value    |
+| :--------------------------- | :---------: |
+| Track Width                  |   354 mm    |
+| Wheelbase length             |   295 mm    |
+| Ground clearance             |   108 mm    |
+| Climb grade (no payload)     | 45° ( ~58%) |
+| Climb grade with 5kg payload | 45° ( ~36%) |
+| Hill grade traversal         | 45° ( ~58%) |
+| Nominal torque               |    4 Nm     |
+| Maximum torque               |   5.6 Nm    |
+
+### Rover overview
+
+<ThemedImageZoom
+  alt="Overview of main features of Rapha Rover"
+  sources={{
+    light: useBaseUrl(
+      '/img/robots/leo/specification/leo-1.9-overview-light.webp',
+    ),
+    dark: useBaseUrl(
+      '/img/robots/leo/specification/leo-1.9-overview-dark.webp',
+    ),
+  }}
+  width="1855"
+  height="2200"
+  figStyle={{
+    width: 600,
+  }}
+  caption="Leo Rover overview"
+/>
+
+## Hardware specification
+
+### Dimensions
+
+<ThemedImageZoom
+  alt="Leo Rover Dimensions"
+  sources={{
+    light: useBaseUrl(
+      '/img/robots/leo/specification/leo-1.9_dimensions-light.webp',
+    ),
+    dark: useBaseUrl(
+      '/img/robots/leo/specification/leo-1.9_dimensions-dark.webp',
+    ),
+  }}
+  width="1300"
+  height="1800"
+  figStyle={{
+    width: 600,
+  }}
+  caption="Dimensions of Leo Rover"
+/>
+
+### Components
+
+|              Name | Quantity | Description                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                         |
+| ----------------: | :------: | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| Built-in computer |    1     | Raspberry Pi 5 - A single-board computer developed by Raspberry Pi Ltd.<br /> <br /> Key features: <ul><li>Processor: Broadcom BCM2712, 2.4GHz quad-core 64-bit Arm Cortex-A76 CPU with cryptography extensions. </li><li> Memory: 4GB LPDDR4X-4267 SDRAM.</li><li>Storage: Micro SD card slot with support for high-speed SDR104 mode; PCIe 2.0 x1 interface for fast peripherals (requires separate 3 M.2 HAT or adapter).</li><li>Connectivity:<ul><li>Gigabit Ethernet (supports PoE+ with separate PoE+ HAT)</li><li>Dual-band 802.11ac Wi-Fi</li><li> Bluetooth 5.0 / Bluetooth Low Energy (BLE)</li><li>2 x USB 3.0 ports supporting simultaneous 5Gbps operation</li><li> 2 x USB 2.0 5 ports</li><li> 2 x micro-HDMI ports supporting resolutions up to 4kp60 with HDR support</li><li>2 x 4-lane MIPI camera/display transceivers</li><li>standard 40-pin GPIO header</li></ul></li></ul> |
+|     Wi-Fi adapter |    1     | Alfa AWUS036ACS: USB 2.0 Wi-Fi adapter (Realtek RTL8811AU). Dual-band 802.11ac (AC600: 150 Mbps 2.4GHz + 433 Mbps 5GHz).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            |
+|           Antenna |    1     | Dual-band (2.4 GHz / 5 GHz) placed on the top of the robot.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                         |
+|      Front camera |    1     | Arducam 12.3MP 477M HQ Camera Module for Raspberry Pi with 158°(D) M12 Wide Angle Lens.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                             |
+|         DC motors |    4     | Bühler Motors 1.61.077.414 connected to LeoCore.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    |
+
+### Block diagram
+
+<HardwareDiagram
+  className="themedSvg"
+  style={{
+    width: '700px',
+  }}
+/>
+
+### LeoCore controller
+
+Leo Rover since version 1.8 is based on the LeoCore electronics board which,
+together with the Raspberry Pi computer, controls all the Rover's
+functionalities.
+
+<ImageZoom
+  src="/img/robots/leo/specification/LeoCore.webp"
+  alt="LeoCore controller"
+  width="1600"
+  height="1120"
+  figStyle={{
+    width: 600,
+  }}
+/>
+
+To make it easier, we listed all the interfaces used by Leo Rover as default.
+Just to make sure you don't interfere with them when developing.
+
+| Port                                    | Functionality                                                     |
+| --------------------------------------- | ----------------------------------------------------------------- |
+| Power input                             | to power the board                                                |
+| RPi port                                | to power and RPi serial communication                             |
+| LED output                              | to control the battery LED (to show system readiness)             |
+| Motor output A, B, C & D (PWM H-bridge) | to power the rover motors and encodes                             |
+| ST-link/V2 6-pin port                   | used to flash firmware to the board using ST-link/V2 (optionally) |
+
+### Drivetrain
+
+The standard configuration of the Leo Rover features a drivetrain comprising
+four fixed wheels. This design enhances the mobility of the Rover, enabling it
+to execute precise maneuvers such as:
+
+- turning in place ( around center of mass of the rover)
+- turning around a curve
+
+In addition, Leo Rover has a differential suspension system, which allows it to
+traverse uneven terrain and obstacles. The suspension system is designed to
+provide a smooth ride and maintain stability while driving over rough surfaces.
+
+#### Motors
+
+The Rover is equipped with four in-hub DC motors, each featuring a planetary
+gearbox with a gear ratio of 73.2:1. This configuration allows for precise
+control of the Rover's movement and enables it to navigate various terrains with
+ease. The motors are equipped with encoders that provide feedback on the wheel's
+position and speed, allowing for accurate control of the Rover's movement.
+
+#### Wheels
+
+As standard, Leo Rover comes with rubber tires with a diameter of about 130 mm.
+Whole drive assembly has following characteristics:
+
+|                        Parameter |           Value           |
+| -------------------------------: | :-----------------------: |
+| Tire size (diameter x thickness) |    ~ 125 mm x ~ 70 mm     |
+|                   Tire lock type |       non beadlock        |
+|                      Tire insert | soft foam (non pneumatic) |
+|               Wheel rim diameter |           98 mm           |
+
+### Battery & charging
+
+Leo Rover is powered by a 3S Li-Ion battery with a capacity of 7000 mAh. The
+battery is equipped with an internal battery management system (BMS) that
+provides protection against overcharging, over-discharging, and short circuits.
+The battery is designed to be easily replaceable, allowing for quick swaps
+during extended use.
+
+Each battery pack has following characteristics:
+
+|            Parameter |                  Value                   |
+| -------------------: | :--------------------------------------: |
+|              Voltage |             11.1 V (nominal)             |
+|         Battery type |                  Li-Ion                  |
+|         Battery cell |       18650 (Samsung INR18650-35E)       |
+|             Capacity |       7 Ah (84,7 Wh - flight safe)       |
+|    Battery pack type |                   3S1P                   |
path: docs/leo-rover/documentation/specification/specification.mdx
user: login: bjsowa
body: ```suggestion
|    Battery pack type |                   3S2P                   |
```
created_at: 2025-04-23T12:26:29Z
author_association: MEMBER
diff_hunk: @@ -0,0 +1,399 @@
+---
+title: Leo Rover specification
+sidebar_label: Specification
+sidebar_position: 2
+description: >-
+  Discover the specifications of Leo Rover, a small, remote-controlled,
+  4-wheeled robot that eases the development of robotic projects both outdoors
+  and indoors. Perfect for learning and research.
+---
+
+import useBaseUrl from '@docusaurus/useBaseUrl';
+import Tabs from '@theme/Tabs';
+import TabItem from '@theme/TabItem';
+import Admonition from '@theme/Admonition';
+import FlexTable from '@site/src/components/FlexTable';
+import FlexTableItem from '@site/src/components/FlexTableItem';
+import ThemedImageZoom from '@site/src/components/ThemedImageZoom';
+import Powerbox from '@site/docs/leo-rover/addons/powerbox/_powerbox-product.mdx';
+import HardwareDiagram from '@site/static/img/robots/leo/specification/leo-1.9-hardware-diagram.svg';
+import WeipuDiagram from '@site/static/img/robots/leo/specification/weipu-SP13-3-pinout.svg';
+
+<ImageZoom
+  loading="eager"
+  src="/img/robots/leo/leo-rover.webp"
+  alt="Leo Rover 1.8"
+  width="1000"
+  height="1000"
+  figStyle={{
+    width: 600,
+  }}
+/>
+
+<details>
+  <summary>Specifications for previous versions of the Leo Rover</summary>
+
+This is a technical specification of the Leo Rover 1.9. <br /> If you are
+looking for specification of the older version of the Leo Rover, please visit:
+
+<FlexTable width="100%">
+  <FlexTableItem style={{ padding: '0 0.5rem 0 0.5rem' }}>
+    <LinkButton docId="leo-rover/documentation/specification/specification-1.8" />
+  </FlexTableItem>
+  <FlexTableItem style={{ padding: '0 0.5rem 0 0.5rem' }}>
+    <LinkButton docId="leo-rover/documentation/specification/specification-1.7" />
+  </FlexTableItem>
+</FlexTable>
+
+</details>
+
+---
+
+## Introduction
+
+Leo Rover is a compact, 4-wheeled, remote-controlled robot designed for indoor
+and outdoor robotic project development, learning, and research applications. It
+is equipped with a built-in computer, a high-resolution camera, and a powerful
+battery, making it suitable for various tasks, including autonomous navigation,
+obstacle detection, and remote monitoring.
+
+### Main parameters
+
+| Parameter                    |                Value                |
+| :--------------------------- | :---------------------------------: |
+| Dimensions (LxWxH)           |      424 mm x 445 mm x 303 mm       |
+| Weight                       |               ~6.5 kg               |
+| Maximum payload              |               ~5 kg\*               |
+| Maximum linear speed         |              ~0.4 m/s               |
+| Maximum angular speed        |              ~1 Rad/s               |
+| Estimated max. obstacle size |                ~70 m                |
+| IP protection rating         |                IP 55                |
+| Operating temperature        |          -10 °C to +40 °C           |
+| Run time                     | up to 4 hours with standard battery |
+| Connection range             |             Up to 100 m             |
+
+\* - on standard tires
+
+#### Traction parameters
+
+| Parameter                    |    Value    |
+| :--------------------------- | :---------: |
+| Track Width                  |   354 mm    |
+| Wheelbase length             |   295 mm    |
+| Ground clearance             |   108 mm    |
+| Climb grade (no payload)     | 45° ( ~58%) |
+| Climb grade with 5kg payload | 45° ( ~36%) |
+| Hill grade traversal         | 45° ( ~58%) |
+| Nominal torque               |    4 Nm     |
+| Maximum torque               |   5.6 Nm    |
+
+### Rover overview
+
+<ThemedImageZoom
+  alt="Overview of main features of Rapha Rover"
+  sources={{
+    light: useBaseUrl(
+      '/img/robots/leo/specification/leo-1.9-overview-light.webp',
+    ),
+    dark: useBaseUrl(
+      '/img/robots/leo/specification/leo-1.9-overview-dark.webp',
+    ),
+  }}
+  width="1855"
+  height="2200"
+  figStyle={{
+    width: 600,
+  }}
+  caption="Leo Rover overview"
+/>
+
+## Hardware specification
+
+### Dimensions
+
+<ThemedImageZoom
+  alt="Leo Rover Dimensions"
+  sources={{
+    light: useBaseUrl(
+      '/img/robots/leo/specification/leo-1.9_dimensions-light.webp',
+    ),
+    dark: useBaseUrl(
+      '/img/robots/leo/specification/leo-1.9_dimensions-dark.webp',
+    ),
+  }}
+  width="1300"
+  height="1800"
+  figStyle={{
+    width: 600,
+  }}
+  caption="Dimensions of Leo Rover"
+/>
+
+### Components
+
+|              Name | Quantity | Description                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                         |
+| ----------------: | :------: | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| Built-in computer |    1     | Raspberry Pi 5 - A single-board computer developed by Raspberry Pi Ltd.<br /> <br /> Key features: <ul><li>Processor: Broadcom BCM2712, 2.4GHz quad-core 64-bit Arm Cortex-A76 CPU with cryptography extensions. </li><li> Memory: 4GB LPDDR4X-4267 SDRAM.</li><li>Storage: Micro SD card slot with support for high-speed SDR104 mode; PCIe 2.0 x1 interface for fast peripherals (requires separate 3 M.2 HAT or adapter).</li><li>Connectivity:<ul><li>Gigabit Ethernet (supports PoE+ with separate PoE+ HAT)</li><li>Dual-band 802.11ac Wi-Fi</li><li> Bluetooth 5.0 / Bluetooth Low Energy (BLE)</li><li>2 x USB 3.0 ports supporting simultaneous 5Gbps operation</li><li> 2 x USB 2.0 5 ports</li><li> 2 x micro-HDMI ports supporting resolutions up to 4kp60 with HDR support</li><li>2 x 4-lane MIPI camera/display transceivers</li><li>standard 40-pin GPIO header</li></ul></li></ul> |
+|     Wi-Fi adapter |    1     | Alfa AWUS036ACS: USB 2.0 Wi-Fi adapter (Realtek RTL8811AU). Dual-band 802.11ac (AC600: 150 Mbps 2.4GHz + 433 Mbps 5GHz).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            |
+|           Antenna |    1     | Dual-band (2.4 GHz / 5 GHz) placed on the top of the robot.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                         |
+|      Front camera |    1     | Arducam 12.3MP 477M HQ Camera Module for Raspberry Pi with 158°(D) M12 Wide Angle Lens.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                             |
+|         DC motors |    4     | Bühler Motors 1.61.077.414 connected to LeoCore.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    |
+
+### Block diagram
+
+<HardwareDiagram
+  className="themedSvg"
+  style={{
+    width: '700px',
+  }}
+/>
+
+### LeoCore controller
+
+Leo Rover since version 1.8 is based on the LeoCore electronics board which,
+together with the Raspberry Pi computer, controls all the Rover's
+functionalities.
+
+<ImageZoom
+  src="/img/robots/leo/specification/LeoCore.webp"
+  alt="LeoCore controller"
+  width="1600"
+  height="1120"
+  figStyle={{
+    width: 600,
+  }}
+/>
+
+To make it easier, we listed all the interfaces used by Leo Rover as default.
+Just to make sure you don't interfere with them when developing.
+
+| Port                                    | Functionality                                                     |
+| --------------------------------------- | ----------------------------------------------------------------- |
+| Power input                             | to power the board                                                |
+| RPi port                                | to power and RPi serial communication                             |
+| LED output                              | to control the battery LED (to show system readiness)             |
+| Motor output A, B, C & D (PWM H-bridge) | to power the rover motors and encodes                             |
+| ST-link/V2 6-pin port                   | used to flash firmware to the board using ST-link/V2 (optionally) |
+
+### Drivetrain
+
+The standard configuration of the Leo Rover features a drivetrain comprising
+four fixed wheels. This design enhances the mobility of the Rover, enabling it
+to execute precise maneuvers such as:
+
+- turning in place ( around center of mass of the rover)
+- turning around a curve
+
+In addition, Leo Rover has a differential suspension system, which allows it to
+traverse uneven terrain and obstacles. The suspension system is designed to
+provide a smooth ride and maintain stability while driving over rough surfaces.
+
+#### Motors
+
+The Rover is equipped with four in-hub DC motors, each featuring a planetary
+gearbox with a gear ratio of 73.2:1. This configuration allows for precise
+control of the Rover's movement and enables it to navigate various terrains with
+ease. The motors are equipped with encoders that provide feedback on the wheel's
+position and speed, allowing for accurate control of the Rover's movement.
+
+#### Wheels
+
+As standard, Leo Rover comes with rubber tires with a diameter of about 130 mm.
+Whole drive assembly has following characteristics:
+
+|                        Parameter |           Value           |
+| -------------------------------: | :-----------------------: |
+| Tire size (diameter x thickness) |    ~ 125 mm x ~ 70 mm     |
+|                   Tire lock type |       non beadlock        |
+|                      Tire insert | soft foam (non pneumatic) |
+|               Wheel rim diameter |           98 mm           |
+
+### Battery & charging
+
+Leo Rover is powered by a 3S Li-Ion battery with a capacity of 7000 mAh. The
+battery is equipped with an internal battery management system (BMS) that
+provides protection against overcharging, over-discharging, and short circuits.
+The battery is designed to be easily replaceable, allowing for quick swaps
+during extended use.
+
+Each battery pack has following characteristics:
+
+|            Parameter |                  Value                   |
+| -------------------: | :--------------------------------------: |
+|              Voltage |             11.1 V (nominal)             |
+|         Battery type |                  Li-Ion                  |
+|         Battery cell |       18650 (Samsung INR18650-35E)       |
+|             Capacity |       7 Ah (84,7 Wh - flight safe)       |
+|    Battery pack type |                   3S1P                   |
+| Maximum output power |                  ~120 W                  |
+|       Safety systems | Overcurrent, Reverse polarity protection |
+
+#### Connectors
+
+By default Leo Rover uses standard [WEIPU](https://www.weipuconnector.com/)
+SP13-3 connectors for connecting battery, Main Electronics Box and other
+possible addons.
+
+<FlexTable>
+  <FlexTableItem>
+
+| Pin name | Cable color                   |
+| -------- | ----------------------------- |
+| DC-      | black                         |
+| DC+      | red / black with white stripe |
+| LED      | green                         |
+
+  </FlexTableItem>
+  <FlexTableItem style={{padding: '0 0.5rem 0 0.5rem'}}>
+    <WeipuDiagram
path: docs/leo-rover/documentation/specification/specification.mdx
user: login: bjsowa
body: Left side is slightly cut off
```suggestion
    <WeipuDiagram
```
created_at: 2025-04-23T12:29:22Z
author_association: MEMBER

PR comments:
user: login: bjsowa
created_at: 2025-04-18T16:08:10Z
body: @Krzemien97 Could you split the CSpell related commits into a separate PR?
author_association: MEMBER
user: login: Krzemien97
created_at: 2025-04-22T07:40:55Z
body: @bjsowa done


author_association: COLLABORATOR