GoGoPi-Ros
Ros2 on a GoGoPi mobile robot with a YDLIDAR scanning ranger added
The base robot
Original source: HiWonder.hk
A Canadian source: Robotshop.ca
Arbitrary Choices
Ros-galactic for stability + future proofing
Yes galactic is in development, but it has not caused problems yet :)
deb [arch=arm64 signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu focal main
Rationalized choices
Use the Hiwonder Power Off button code.
It works Maybe something better will come up
Default to pre-configured Wifi Authentication
To make logging in from development labs a bit easier
Add a Wifi Failover to AP mode at some point
Needed for demonstrations if nothing else.
Python3 only ASAP.
Ros2 precedent(?)
Python3 is what all useful libraries will support.
Some porting of the examples will be necessary
Current investigations
Controllng a YDLIDAR TX8 spin motor with the RPI 4 serial port
uhubctl v 2.4.1 controls the RPI hub power, but that is a coarse control that prevents using other USB stuff.