I’m not running DexterOS, just the old BrickPi 2 with my slightly modified firmware, and my more modified BrickPi.py driver. The only change the driver required was to change the serial port definition to ‘/dev/serial0’.
Just a heads up.
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Great news!
Can we have a bit more context so that others can benefit from this?
Thanks!
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After a 7 year hiatus I’ve decided to work on my SLAMBot again (since I’m coming up to 80, I better get to it).
It’s a BrickPi 2 on wheels, with chasm detector up front (a LEGO color sensor), articulated wheel at back (for accurate turning), and with a lidar on the roof.
The challenge is to run Simon Levy’s Breezy SLAM code to navigate & map the main floor of my home, and return to the starting point.
SLAMBot (I didn’t say it was pretty).
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“Form follows function.”
And if you succeed, @cyclicalobsessive will be jumping up and down! (And will want a copy of the code too!!)
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This is so cool!
Instead of “a 7 year hiatus”, I have spent the last 7 years on “navigate…map…return to the starting point” for my GoPiGo3 robots, currently have managed ROS 2 LIDAR mapping and planning to advance to RTABmap stereo vision mapping (“since I’m coming up to [72], I better get to it”) hopefully with ROS2 Nav2 getting my bot back to its dock accurately enough.
I was not aware of the Non-ROS approach Breezy SLAM code. I went through a period of DIY occupancy grid mapping and decided I needed to find some already tested SLAM code. I ended up in ROS which has really complicated my robot’s life now while promising great things in the future.
Here’s to SLAMBot - may he find his way home soon.
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Totally righteous! We’re glad to see you’re back.
What O/S are you using?
Any special tweaks aside from what you already mentioned?
Please keep us updated, even if it seems trivial to you - we don’t know much about the Brick-Pi and we’ll take all the information we can get!
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Title on the thread Bookworm 64 bit …
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Wow!
Bookworm??
I want to know how he accomplished it.
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The BrickPi/BrickPi+ do not use pigpiod, or software I2C, or desktop GUI components so I’m guessing the install script works up to and including Bookworm on Pi4. The use of WiringPi will prevent the BrickPi from using a Raspberry Pi5.
Lego Mindstorms NXT is still a thing.
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