Turtlebot Burger which is RPi3 based and weighs 2.2lbs, runs the same LIDAR and two (Dynamix) motors at the same max speed as a GoPiGo3, comes with an 1800mAh 11.1v battery and claims 2.5 hrs operating time and 2.5h charging time. (It also has a 32-bit Cortex M7 with an FPU on the driver board.)
The GoPiGo3 weighs a little less, and has a bigger battery, adding some support to my 4-5 hour guess.
You can bet my first platform tests will be to measure actual power consumption of the LIDAR, and characterize the battery voltage over time with a few motor duty cycle values - (0%, 50%, 100%).
Mapping is probably an 80-90% percent motor duty cycle but once the bot thinks it knows its environment, it will have to drudge up an excuse to navigate, period. (I’m still holding onto the idea that one day Carl will start looking around, asking “what is this?”, and announcing “Did you know there are XXX feet of followable walls in this house?”, or “The smoke detector in the bedroom is only blinking every 90 seconds, maybe you should replace the battery so it won’t wake you up in the middle of the night.” (Those darn things always start complaining when the temperature drops a little in the middle of the night, and the beep is so high frequency it bounces around so I can’t tell which one is complaining.)
Not really, the MR battery fits just fine on the back deck, but turning accuracy is so much better with the weight closer to the drive wheels than the castor.
(ROSbot will have lots of empty space on the back deck. I considered maybe moving the upper-deck(s) backward some and chopping off the front deck, but then it wouldn’t be a “stock GoPiGo3”, but then adding another upper deck isn’t going to be exactly stock either, but that I feel compelled to do for accuracy.
Now if the day comes that I want to add an Intel RealSense Depth Camera (and a fan so I can really load the RPi3B+ processor), then I may need to consider the 6000mAh monster battery, which might just be too much weight on the GoPiGo3’s cantilevered motor axles. (The Turtlebot Burger with Dynamixel motors probably wouldn’t notice the extra weight, but we’re talking $300 more for the bot.)
BUT, before ROSbot gets visual depth perception, Carl will be calling for my attention, so I think GoPiGo3 as a ROSbot platform makes good sense - albeit only a few people have recognized that so far.