slowrunner / HumbleDave

Reincarnating ROSbot Dave (ROS2-GoPiGo3) atop ROS2 Humble and Ubuntu 22.04

HumbleDave

Reincarnating ROSbot Dave (rosbot-on-gopigo3) atop ROS2 Humble and Ubuntu 22.04 (ROS2-GoPiGo3)

Autonomous ROS2 home robot based on GoPiGo3 and RaspberryPi

ROSbot Specs:

• Platform: GoPiGo3 from ModularRobotics

• Processor: Raspberry Pi 4B

  • 1.8 GHz Max
  • Four Cores
  • 2GB Memory
  • Onboard Dual Band WiFi

• OS: Ubuntu 22.04 LTS 64-bit Server

• ROS2 Humble Hawksbill: Uses 100% of one core (uptime 15min load 1.0)

• Control Interfaces:

  • ssh over WiFi
  • ROS2 Humble Hawksbill
  • 2.4GHz Wireless USB "SNES" Gamepad

• Sensors (GoPiGo3 Intrinsic)

  • Battery_Voltage (GoPiGo3 intrinsic)
  • Regulated_5v_Voltage (GoPiGo3 intrinsic)
  • Magnetic Wheel Encoders 720 cnt/rev (GoPiGo3 intrinsic)

• Sensors (Raspberry Pi Intrinsic)

  • Processor Temperature
  • Processor Low Voltage Throttling Active / Latched
  • Processor Temperature Throttling Active / Latched

• Sensors (Added):

  • YDLIDAR X4 - 360 degrees, 12cm-10m range on half degree increment, ~8Hz scanning
  • DI Distance Sensor (VL53L0X Infrared Time-Of-Flight) 25 deg beam width, About 4% accuracy to 7.5 feet (2.3m) Mounted on Tilt/Pan
  • Pi-Camera v1.3
  • MPU9250 Inertial Measurement Unit also provides ambient temperature

• Actuators/Effectors (GoPiGo3 Intrinsic)

  • Wheel Motors
  • Multi-color programmable LED (x3)
  • Program controlled Red LED (x2)
  • Tri-color Battery Voltage Indicator

• Actuators/Effectors

  • ModRobotics Servo Kit
  • USB audio+power speaker

• Available GoPiGo3 Ports

  • I2C: Distance Sensor
  • I2C: Unused
  • Grove Analog/Digital I/O AD1: Unused
  • Grove Analog/Digital I/O AD2: Unused
  • SERVO1: Pan Servo

• Power Source: ModRobotics 3000mAH 11.1v Rechargeable Battery

  • 12.6v to protection circuit cutoff at 8.1-8.4v!
  • Roughly 24wH

• Run Time: (Using 9.75v 15minutes left "need to shutdown" limit)

  • "Thinking" 5+ hours (averages 414mA at 11.1v 4.6w 24wH)
  • "100% wandering" TBD hours

• Recharger:

  • ModRobotics Li-ion Battery Charging adapter
  • 12.6v 1A output with charging/charged LED
  • About 3 hours recharge from safety shutdown

• Physical:

  • 2.5 lbs Total
  • 7" wide x 9" Long x 12" High

• Total Cost:

• First "Life": June 2021