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:
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Platform: GoPiGo3 from ModularRobotics
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Processor: Raspberry Pi 4B
- 1.8 GHz Max
- Four Cores
- 2GB Memory
- Onboard Dual Band WiFi
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OS: Ubuntu 22.04 LTS 64-bit Server
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ROS2 Humble Hawksbill: Uses 100% of one core (uptime 15min load 1.0)
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Control Interfaces:
- ssh over WiFi
- ROS2 Humble Hawksbill
- 2.4GHz Wireless USB "SNES" Gamepad
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Sensors (GoPiGo3 Intrinsic)
- Battery_Voltage (GoPiGo3 intrinsic)
- Regulated_5v_Voltage (GoPiGo3 intrinsic)
- Magnetic Wheel Encoders 720 cnt/rev (GoPiGo3 intrinsic)
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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
- 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
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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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Actuators/Effectors
- ModRobotics Servo Kit
- USB audio+power speaker
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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
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Power Source: ModRobotics 3000mAH 11.1v Rechargeable Battery
- 12.6v to protection circuit cutoff at 8.1-8.4v!
- Roughly 24wH
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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
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Recharger:
- ModRobotics Li-ion Battery Charging adapter
- 12.6v 1A output with charging/charged LED
- About 3 hours recharge from safety shutdown
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Physical:
- 2.5 lbs Total
- 7" wide x 9" Long x 12" High
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Total Cost:
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First "Life": June 2021