SciTech Chronicles. . . . . . . . .Mar 5th, 2025
#cornea #epithelial #transplantation #18-months #sunspot #earthquake #Prediction #tectonic #hydrosilylation #platinum #silicon #ligand #AI #entanglement #communication #photons #LiDAR #Autonomous #Farming #odometry
What's on my mind?
Disappointment and Disillusionment!
- Invested 7 yrs in #GoPiGo3 #robot
- Created #ROS2 nodes for #proprioception, #odometry, #LIDAR, #docking, #tts #mapping, #navigation, #simulation, #ObjectRecognition, and #LifeLogging
- My robot cannot safely and reliably navigate in my complex home environment.
- No slower turns, no inflation value can fix
I'm done, destroyed, no strength left for "one more try". GoPi5Go-Dave is on the shelf with other "reached its limit" robots.
At this reduced transfer rate, the #GoPiGo3 can make a two byte #SPI transfer in 0.0003 seconds, which means it can retrieve the left and right wheel encoder values roughly 1700 times per second - plenty fast enough for my #ros2humble robot to publish #wheelencoders and the resultant #odometry at 30 Hz.
#SLAM_Toolbox Mapping w/o Localization
Got slam_toolbox mapping with localization turned off, but managed to figure out how to serve up a better looking map from my house floor plan.
The weakness of dead reckoning #odometry becomes very evident with the floorplan map.
Next up - #DeadReckoning #navigation with #ros2humble #nav2 and #map_server
#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.
Turn By Turn Driving Directions From A Turntable - Many of us now carry a phone that can give us detailed directions from where we are to a destinati... more: https://hackaday.com/2020/01/16/turn-by-turn-driving-directions-from-a-turntable/ #transportationhacks #directionfinding #deadreckoning #navigation #carhacks #navigate #odometer #odometry
