A prototype rover serves as a seismic instrument through sensors attaching to the interior of its wheels. The system was tested at the Lunar Regolith Terrain (LRTf), NASA Marshall Space Flight Center. Seismic surface wave experiments show results similar to traditional seismic experiments for both simple and complex lunar-soil analogs. We independently evaluate the results through comparison to ground-penetrating radar images. The seismic results assist in understanding the geotechnical properties of planetary soils.