The history of the TurtleBot has a few flat tires along the way, but there are more active-on-social-media TurtleBot3 users than for the GoPiGo3.
The TurtleBot4 Lite should be able to work out the kinks to get a solid hour-plus playtime, and clear out the startup issues to be a quite “high intrinsic function” ROS bot. The TurtleBot4 Standard is ripe for an aux battery to run the Pi and sensors, to allow longer run-times in university settings.
Considering the GoPiGo3 Li-Ion battery is spec’d at 3A it is likely to be inadequate for a full up vision processing ROS bot as well. I hope to find a sweet spot of Lidar/Mapping/Vision usage on a Pi4 GoPiGo3.
Something funny going on today with “Humble Dave”:
Load 15min 1.36 at 1hr
Load 15min 1.71 at 1:20
but individual processes don’t show increased CPU usage.
* Dave: GoPiGo3/Lidar/Joy/Odometer/safety/state_and_joint/libcameraJPG/imu_sensor
- no mapping
- rviz2 showing bot and scan
- Load 15min 1.36 at 1hr 1.75 at 1:30
- Mem 588MB at 1hr
- freq: 1.3-1.7GHz
- GoPiGo3 node started out low, grows to 33% after 1hr
- IMU 30% CPU
- Odometer 10% CPU
- Safety 8% CPU
- ImagePub 12% CPU
- Joy 14% CPU (2x 7%)
- Joint and Robot State 1.4% CPU
- pigpiod 16%+ CPU (2x 8%)
- ydlidar 4% + 2% CPU
- (htop 3% CPU)