falconray0704 / wali_pi5

Create3 Robot WALI's Onboard Raspberry Pi5 Brain

wali_pi5

Create3 Robot WALI's Onboard Raspberry Pi5 Brain

WALI: Wall-follower Looking for Intelligence

WALI is an autonomous ROS 2 robot based upon:

• iRobot Create3
• Raspberry Pi5
• Oak-D-Lite RGB-Depth Camera/Processor

WALI's Software Architecture:

• ROS 2 wali_node

• ROS 2 create3_ir2scan node

• Docker Container

  • ROS 2 Humble

• Raspberry Pi OS 64-bit Bookworm Desktop

• iRobot Create3 ROS 2 Humble Nodes

  • /_internal/composite_hazard
  • /_internal/kinematics_engine
  • /_internal/mobility
  • /_internal/stasis
  • /mobility_monitor
  • /motion_control
  • /robot_state
  • /root_ble_interface
  • /static_transform
  • /system_health
  • /ui_mgr

• WalI Nodes:

  • wali_node: Manages battery by undocking, preparing to dock, docking
  • say_node: Provides Text-To-Speech /say service
  • ir2scan: Publishes /scan containing estimated obstacle distance
    (0.15m - 0.4m) from Create3 IR Intensity sensors
  • odometer: Tracks distance traveled and heading changed (use cmds/tail_life.sh for total stats)

• WaLI LOGS: (wali_pi5/logs/)

  • life.log: Important events recorded with date and local time
  • say.log: TTS request history for the /say service

• WaLI STARTING AND STOPPING

  • c3ws/start_docker_r2hdp_service.sh (kills any running r2hdp containers, then starts r2hdp docker container)
    • docker.r2hdp service runs /home/pi/wali_pi5/configs/docker/start_docker_detached_r2hdp.sh
    • start_docker_detached_r2hdp.sh starts docker which runs c3ws/start_wali.sh
    • start_wali.sh launches
      • teleop_twist_joy (which launches joy_node)
      • odometer
      • wali_node
      • say_node