https://github.com/slowrunner/rosbot-on-gopigo3
Autonomous ROS2 home robot based on GoPiGo3 and RaspberryPi
https://github.com/slowrunner/rosbot-on-gopigo3
Last synced: 17 days ago
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Autonomous ROS2 home robot based on GoPiGo3 and RaspberryPi
- Host: GitHub
- URL: https://github.com/slowrunner/rosbot-on-gopigo3
- Owner: slowrunner
- License: gpl-3.0
- Created: 2021-06-10T12:22:07.000Z (almost 5 years ago)
- Default Branch: main
- Last Pushed: 2022-10-12T22:43:56.000Z (over 3 years ago)
- Last Synced: 2025-11-27T18:24:08.636Z (6 months ago)
- Language: Python
- Size: 30 MB
- Stars: 2
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# rosbot-on-gopigo3
Autonomous ROS2 home robot based on GoPiGo3 and RaspberryPi
ROSbot Specs:
- Platform: GoPiGo3 from ModularRobotics
- Processor: Raspberry Pi 3 B+
* 1.4 GHz Max
* Four Cores
* 1GB Memory
* Onboard WiFi
- OS: Ubuntu 20.04 LTS 64-bit Server
- ROS2 Foxy: Uses 100% of one core (uptime 15min load 1.0)
- Control Interfaces:
* ssh over WiFi
* ROS2 Foxy
* 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
* DI Inertial Measurement Unit (BNO055 9DOF Fusion IMU)
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: $415
- First "Life": June 2021