https://github.com/slowrunner/kilteddave
A port of GoPiGo3 Robot Dave to ROS 2 Kilted Kaiju
https://github.com/slowrunner/kilteddave
Last synced: 12 months ago
JSON representation
A port of GoPiGo3 Robot Dave to ROS 2 Kilted Kaiju
- Host: GitHub
- URL: https://github.com/slowrunner/kilteddave
- Owner: slowrunner
- License: lgpl-2.1
- Created: 2025-05-09T14:25:32.000Z (about 1 year ago)
- Default Branch: main
- Last Pushed: 2025-05-28T00:03:27.000Z (about 1 year ago)
- Last Synced: 2025-05-28T01:17:27.768Z (about 1 year ago)
- Language: Python
- Size: 5.75 MB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# KiltedDave
2025-05-03: Moving to ROS 2 Kilted Kaiju over Ubuntu 24.04.2 Noble_Numbat
2025-04-03: REINCARNATING HUMBLE DAVE due to Pi5 I2C failure on GoPi5Go
Originally a reincarnation of ROSbot Dave (rosbot-on-gopigo3) atop
ROS2 Humble and Ubuntu 22.04 (ROS2-GoPiGo3)
**Autonomous ROS2 home robot based on GoPiGo3 and Raspberry Pi 4**
ROSbot Specs:
- Platform: GoPiGo3 from ModularRobotics
- Processor: Raspberry Pi 4B
* 1.8 GHz Max
* Four Cores
* 4GB Memory (Configured with 1GB swap)
* Onboard Dual Band WiFi
- OS: Ubuntu 24.04 LTS 64-bit Server
- ROS2 Kilted Kaiju: Uses 100% of one core (uptime 15min load 1.0)
- Control Interfaces:
* ssh over WiFi
* ROS2 Kilted Kaiju
* 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
* MPU9250 Inertial Measurement Unit
also provides ambient temperature
* INA219 - Voltage, Current, Power
* Luxonis Oak-D-W97 1280x800 Wide-Angle Fixed-Focus 18cm-Inf Stereo Depth Camera
- Actuators/Effectors (GoPiGo3 Intrinsic)
* Wheel Motors
* Multi-color programmable LED (x3)
* Program controlled Red LED (x2)
* Tri-color Battery Voltage Indicator
- Actuators/Effectors
* USB audio+power speaker
- Available GoPiGo3 Ports
* I2C (left): MPU9250
* I2C (right): INA219
* Grove Analog/Digital I/O AD1: Unused
* Grove Analog/Digital I/O AD2: Unused
* SERVO1: Unused
* SERVO2: Unused
- Power Source: ModRobotics 3000mAH 11.1v Rechargeable Battery
* 12.6v to protection circuit cutoff at 8.1-8.4v!
* Roughly 24wH
- Run Time: (Using 10.1v 15minutes left "need to shutdown" limit)
* "Playtime" 3.75 hours (averages 568mA at 11.1v 6.3w 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
- First "EOL": Dec 2023
- Reincarnated: Apr 2025