It all came together today - History was made:
- ROS 2 odometer node recording all /odom changes,
- ROS 2 teleop_gopigo3_keyboard node sending ROS 2 /twist topics to:
- ROS 2 “GoPiGo3 Minimum” gopigo3_node (no LIDAR, no Cameras) - running:
- ROS 2 Humble with
- GoPiGo3 API over
- Ubuntu 22 in
- Docker over
- PiOS Bookworm 64-bit Desktop running on
- Raspberry Pi 5 talking SPI to
- The GoPiGo3 Robot Dave
Allowed keyboard driving of “ROSbot GoPi5Go-Dave” around the room.
*** GoPi5Go Dave TOTAL LIFE STATISTICS ***
Total Awake: 1221.95 hrs
Total Naps: 57.05 hrs
Total Life: 1279.00 hrs (since Mar 17, 2024)
GoPi5Go-Dave Playtimes (Undocked-Docked): 101
Total Dockings: 496
New Battery Installed At Cycle: 416
This Battery At Cycle: 80
Average playtime (last three) 3.7 hrs
Average docked time (last three) 2.3 hrs
Sessions (boot): 64
Average Session: 19.0 hrs
Safety Shutdowns: 8
Total Travel: 12.0 meters 39.3 feet <<<---- odometer logged 2 meters travel
Last Undocking String: 2024-05-11 17:17|[test_docking.py.do_charging]---- Undocking at Charge Current 175 mA 12.11v after 2.3 h charging
Last Docking String: 2024-05-11 14:57|[test_docking.py.do_playtime]---- Docking 496 : success at 0% 9.9v after 3.6 h playtime+
*** Start teleop_gopigo3_keyboard node
*** ros2 run teleop_gopigo3_keyboard teleop_gopigo3_keyboard
This node takes keypresses from the keyboard and publishes them
as Twist messages. It works best with a US keyboard layout.
---------------------------
Moving around:
u i o
j k l
m , .
and arrow keys:
^
<-- v -->
anything else : stop
q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%
CTRL-C to quit
currently: speed 0.1 turn 1.0 <<<<--- speed 0.1m/s
odometer.log:
*** started moving
start_point - x: 1.040 y: -0.000 z: 0.000 heading: 0
*** stopped moving
stop_point - x: 2.041 y: -0.000 z: 0.000 heading: 0 - moved: 1.001 meters in 10.0s <<<--- 0.1m/s
(**measured by encoders (and I measured it on the floor - looked pretty close to 1m**)
Next up,
- get the joystick working (Create3-Wali upgrade from SNES controller to Logitech F710 “real joystick”)
- get the LIDAR SDK installed to enable mapping, localization, and navigation
- get the camera SDK installed to enable objects (tables/chairs,bottles,“person objects”), and Aruco marker recognition