https://github.com/slowrunner/humbledave
Reincarnating ROSbot Dave (ROS2-GoPiGo3) atop ROS2 Humble and Ubuntu 22.04
https://github.com/slowrunner/humbledave
Last synced: 4 months ago
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Reincarnating ROSbot Dave (ROS2-GoPiGo3) atop ROS2 Humble and Ubuntu 22.04
- Host: GitHub
- URL: https://github.com/slowrunner/humbledave
- Owner: slowrunner
- License: lgpl-2.1
- Created: 2023-11-07T16:48:01.000Z (over 2 years ago)
- Default Branch: main
- Last Pushed: 2025-04-06T04:20:59.000Z (about 1 year ago)
- Last Synced: 2025-05-20T18:24:59.644Z (about 1 year ago)
- Language: Python
- Size: 5.3 MB
- Stars: 2
- Watchers: 2
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# 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