Autonomous ROS2 home robot based on GoPiGo3 and Raspberry Pi 5
Reincarnating Humble Dave (HumbleDave) and ROSbot Dave (rosbot-on-gopigo3)
on the Raspberry Pi5 Single Board Computer
GoPi5Go-Dave Specs:
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Platform: GoPiGo3 from ModularRobotics
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Processor: Raspberry Pi 5
- 2.4 GHz Max
- Quad-core 64-bit Arm Cortex-A76
- 4GB Memory
- Onboard Dual Band 802.11ac Wi-Fi
- 2x USB 3.0 ports (up to 5Gbps operation)
- 2x USB 2.0 ports
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Docker ROS 2 Container
- OS: Ubuntu 22.04 basic
- ROS2 Humble Hawksbill
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Control Interfaces:
- ssh over WiFi
- ROS2 Humble Hawksbill in Docker
- 2.4GHz Wireless USB Logitech F710 Gamepad
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Sensors (GoPiGo3 Intrinsic)
- Battery_Voltage (GoPiGo3 intrinsic)
- Regulated_5v_Voltage (GoPiGo3 intrinsic)
- Magnetic Wheel Encoders 1920 cnt/rev (GoPiGo3 intrinsic, 16-tick motors)
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Sensors (Raspberry Pi Intrinsic)
- Processor Temperature
- Processor Low Voltage Throttling Active / Latched
- Processor Temperature Throttling Active / Latched
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Sensors (Added):
- YDLIDAR X4 - 360 degrees, 12cm-10m range on half degree increment, ~8Hz scanning
- MPU9250 Inertial Measurement Unit also provides ambient temperature
- Oak-D-W-97: RGB Center camera, Stereo Grayscale Depth cameras
HFOV: 150 VFOV: 80 deg Resolution: 1Mpx 1280x800
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Actuators/Effectors (GoPiGo3 Intrinsic)
- Wheel Motors
- Multi-color programmable LED (x3)
- Program controlled Red LED (x2)
- Tri-color Battery Voltage Indicator
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Added Actuators/Effectors
- USB audio speaker
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Available GoPiGo3 Ports
- I2C: MPU9250 IMU
- I2C: Unused
- Grove Analog/Digital I/O AD1: Unused
- Grove Analog/Digital I/O AD2: Unused
- SERVO1: Unused
- SERVO2: Unused
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Power Source: ModRobotics 3000mAH 11.1v Rechargeable Battery
- 12.3v to protection circuit cutoff at 8.1-8.4v!
- Roughly 25wH
- Charger never reaches trickle charge due to powering Pololu 5v circuit
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Play Time: (Using 10.1v 15minutes left "need to shutdown" limit)
- "GoPi5Go-Dave ROSbot" 2.8 hours (averages 7.5w 20wH)
- "100% wandering" TBD hours
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Recharger:
- ModRobotics Li-ion Battery Charging adapter
- 12.6v 1A output with charging/charged LED
- About 2.4 hours recharge from 10.1v docking to 100mA charging current
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Physical:
- 2.5 lbs Total
- 7" wide x 9" Long x 12" High
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Total Cost: $782
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First "Life as GoPi5Go-Dave": March 2024 (PiOS Bookworm, ROS 2 Humble over Ubuntu 22.04 in Docker)
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First "Life as Humble-Dave": Oct 7, 2022 (ROS 2 Humble, Ubuntu 22.04)
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First "Life as ROSbot Dave": June 12, 2021 (ROS 2 Foxy, Ubuntu 20.04)
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First "Life as ROS-GoPiGo3": Apr 2019 (Robot Carl, ROS Kinetic, Raspbian Stretch)
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GoPiGo3 API Modifications for Bookworm/Raspberry Pi 5
- Reduced SPI transfer rate to 250 khz for Pi5
- Removed Software I2C for Bookworm
- Removed all pigpio dependancy (Was configuring SPI for ALT0 - no longer needed)
- Changed distance sensor and distance sensor examples to default to hardware I2C
- Changed power monitor to gpiod (was RPi.GPIO)