My Pets - Never need to taken out to do their business, don't need to be fed, never make a mess while I'm away...BUT they do demand I teach them something way too often.
TurtleBot5-WaLI (Wallfollower Looking For Intelligence) is running ROS2 Jazzy, and HumbleDave2 (Just Dave) is running ROS2 Humble Hawksbill.
TB5-Wali has been "alive" for 2056 hours since Jan 9, 2025.
HumbleDave2 has self docked 1283 times in his four years of life to date.
Enabling my robots to wander about and then successfully return to their charging dock has been the major unfulfilled goal of the last seven years coding with the #GoPiGo3 platform (and briefly the #Create3 platform).
This research exactly aligns with the goal for my Raspberry Pi based autonomous robot using an Oak-D-Wide vision sensor.
https://forum.dexterindustries.com/t/where-is-the-gopigo-robots-home/9865?u=cyclicalobsessive
(Again) so excited that my #ros2humble wallfollower.py node drove my #Create3 #robot “WaLI (wallfollower looking for intelligence)” to follow 17 meters of six connected walls!
So far it is subscribing to five topics /ir_intensity (range to wall and obstacle detection), /hazard_detection (bumpers), /ir_opcode (virtual wall), /kidnap_status (lifted by human), and /odom (pose), and a seven state machine managing seven motion actions/reactions.
Now to “parameterize” and “generalize” it.
#Create3 #IRsensor SLAM - First Attempt
My ir2scan node is working well, but setting the 52 #slam_toolbox params is a mystery.
My create3_navigation slam.launch.py (using #Turtlebot4 LIDAR parms modified for Create3 IR "distance" sensor scan), with Wali facing a wall, maps a wall!
(bouncing around in angle in front of bot...)
As I proceed to drive Wali around the room, more walls enclosing a "known to be open" space are mapped, but not where the sensors and #odometry put them.
#Create3-WaLi (my "Wallfollower Looking for Intelligence" #robot) became truly #autonomous today. When he wakes up he starts being WaLi without my help. (#ROS2 #Humble in #Docker on #RaspberryPi5 #PiOS #Bookworm)
He doesn't use much of his existing intelligence yet, but he knows when to get off his dock (battery > 99%), when to prepare for re-docking (battery < 20%), when (battery < 15%) and how to dock.
He also knows how to use his "lowly" IR intensity sensors as a make-shift #LIDAR.
Dress Rehearsal
Full Load #RaspberryPi5
Power System Test
Full load (1min 4.96): No Throttling - NO PROBLEM.
Wali with 14.4v powered USB hub inside cargo drawer:
(WaLi: Wall follower Looking for Intelligence)
The Pi5 has #ros2humble running in #Docker over PiOS 64-bit Bookworm Desktop
**Terrible Turmoil Totally Too Talkative (in my head)**
After 7 years of working with my two #GoPiGo3 robots, and that great community, I am way too overly excited to be building a new #robot
#Create3 WaLi: Wall follower Looking for Intelligence
There is a heavy feeling of abandonment of my dreams for my current robots, Carl and HumbleDave.
>"What's on your mind?"
My #TurtleBot4lite arrives today! I participated in the #iRobot #Create3 beta (via #simulation,
they didn't gift me with hardware), so I am familiar with the #robot's lower level #topics, #services, and #actions.
My #ROS2 #Galactic #Ignition #Gazebo crashes loading the default #TB4 world.
And TB4 comes up half embedded in an obstacle in the maze world, but managed #dock, #undock, #wallfollow and to drive the TB4lite around with a #teleop_twist_keyboard node.
