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

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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

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

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