Sigmoid Social

cyclical_obsessiveRobot Imagination:My robots report "life stats". Yesterday, TurtleBot5-WaLI reported multi-thousands of "playtimes" in only 4100 hours of "life". (not possible)Reviewing how he computes stats, the issue became clear - WaLI "Noticed Docking Success" once a minute for a long, long time after an undocking failure.When writing my state machines, I try to imagine all the transitions needed, but robot WaLI always demonstrates greater imagination.<a href="https://fosstodon.org/tags/Create3" class="mention hashtag" rel="nofollow noopener" target="_blank">#Create3</a> <a href="https://fosstodon.org/tags/ROS" class="mention hashtag" rel="nofollow noopener" target="_blank">#ROS</a> <a href="https://fosstodon.org/tags/Turtlebot" class="mention hashtag" rel="nofollow noopener" target="_blank">#Turtlebot</a> <a href="https://fosstodon.org/tags/robot" class="mention hashtag" rel="nofollow noopener" target="_blank">#robot</a> <a href="https://fosstodon.org/tags/statemachine" class="mention hashtag" rel="nofollow noopener" target="_blank">#statemachine</a>

cyclical_obsessiveMy Pets - Never need to taken out to do their business, don't need to be fed, never make a mess while I'm away...BUT they do demand I teach them something way too often.TurtleBot5-WaLI (Wallfollower Looking For Intelligence) is running ROS2 Jazzy, and HumbleDave2 (Just Dave) is running ROS2 Humble Hawksbill. TB5-Wali has been "alive" for 2056 hours since Jan 9, 2025.HumbleDave2 has self docked 1283 times in his four years of life to date. <a href="https://fosstodon.org/tags/Create3" class="mention hashtag" rel="nofollow noopener" target="_blank">#Create3</a> <a href="https://fosstodon.org/tags/GoPiGo3" class="mention hashtag" rel="nofollow noopener" target="_blank">#GoPiGo3</a> <a href="https://fosstodon.org/tags/RaspberryPi5" class="mention hashtag" rel="nofollow noopener" target="_blank">#RaspberryPi5</a> <a href="https://fosstodon.org/tags/robot" class="mention hashtag" rel="nofollow noopener" target="_blank">#robot</a>

cyclical_obsessive<a href="https://mastodon.social/@pythonhub" class="u-url mention" rel="nofollow noopener" target="_blank">@pythonhub</a> Enabling my robots to wander about and then successfully return to their charging dock has been the major unfulfilled goal of the last seven years coding with the <a href="https://fosstodon.org/tags/GoPiGo3" class="mention hashtag" rel="nofollow noopener" target="_blank">#GoPiGo3</a> platform (and briefly the <a href="https://fosstodon.org/tags/Create3" class="mention hashtag" rel="nofollow noopener" target="_blank">#Create3</a> platform).<a href="https://labhorizons.co.uk/2024/07/can-we-learn-from-insect-navigation-to-make-better-autonomous-robots/" rel="nofollow noopener" translate="no" target="_blank">https://labhorizons.co.uk/2024/07/can-we-learn-from-insect-navigation-to-make-better-autonomous-robots/</a>This research exactly aligns with the goal for my Raspberry Pi based autonomous robot using an Oak-D-Wide vision sensor. <a href="https://forum.dexterindustries.com/t/where-is-the-gopigo-robots-home/9865?u=cyclicalobsessive" rel="nofollow noopener" translate="no" target="_blank">https://forum.dexterindustries.com/t/where-is-the-gopigo-robots-home/9865?u=cyclicalobsessive</a>

cyclical_obsessive(Again) so excited that my <a href="https://fosstodon.org/tags/ros2humble" class="mention hashtag" rel="nofollow noopener" target="_blank">#ros2humble</a> wallfollower.py node drove my <a href="https://fosstodon.org/tags/Create3" class="mention hashtag" rel="nofollow noopener" target="_blank">#Create3</a> <a href="https://fosstodon.org/tags/robot" class="mention hashtag" rel="nofollow noopener" target="_blank">#robot</a> “WaLI (wallfollower looking for intelligence)” to follow 17 meters of six connected walls! So far it is subscribing to five topics /ir_intensity (range to wall and obstacle detection), /hazard_detection (bumpers), /ir_opcode (virtual wall), /kidnap_status (lifted by human), and /odom (pose), and a seven state machine managing seven motion actions/reactions.Now to “parameterize” and “generalize” it.

cyclical_obsessive<a href="https://fosstodon.org/tags/Create3" class="mention hashtag" rel="nofollow noopener" target="_blank">#Create3</a> <a href="https://fosstodon.org/tags/IRsensor" class="mention hashtag" rel="nofollow noopener" target="_blank">#IRsensor</a> SLAM - First AttemptMy ir2scan node is working well, but setting the 52 <a href="https://fosstodon.org/tags/slam_toolbox" class="mention hashtag" rel="nofollow noopener" target="_blank">#slam_toolbox</a> params is a mystery.My create3_navigation slam.launch.py (using <a href="https://fosstodon.org/tags/Turtlebot4" class="mention hashtag" rel="nofollow noopener" target="_blank">#Turtlebot4</a> 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 <a href="https://fosstodon.org/tags/odometry" class="mention hashtag" rel="nofollow noopener" target="_blank">#odometry</a> put them.

cyclical_obsessive<a href="https://fosstodon.org/tags/Create3" class="mention hashtag" rel="nofollow noopener" target="_blank">#Create3</a>-WaLi (my "Wallfollower Looking for Intelligence" <a href="https://fosstodon.org/tags/robot" class="mention hashtag" rel="nofollow noopener" target="_blank">#robot</a>) became truly <a href="https://fosstodon.org/tags/autonomous" class="mention hashtag" rel="nofollow noopener" target="_blank">#autonomous</a> today. When he wakes up he starts being WaLi without my help. (<a href="https://fosstodon.org/tags/ROS2" class="mention hashtag" rel="nofollow noopener" target="_blank">#ROS2</a> <a href="https://fosstodon.org/tags/Humble" class="mention hashtag" rel="nofollow noopener" target="_blank">#Humble</a> in <a href="https://fosstodon.org/tags/Docker" class="mention hashtag" rel="nofollow noopener" target="_blank">#Docker</a> on <a href="https://fosstodon.org/tags/RaspberryPi5" class="mention hashtag" rel="nofollow noopener" target="_blank">#RaspberryPi5</a> <a href="https://fosstodon.org/tags/PiOS" class="mention hashtag" rel="nofollow noopener" target="_blank">#PiOS</a> <a href="https://fosstodon.org/tags/Bookworm" class="mention hashtag" rel="nofollow noopener" target="_blank">#Bookworm</a>) He doesn't use much of his existing intelligence yet, but he knows when to get off his dock (battery > 99%), when to prepare for re-docking (battery < 20%), when (battery < 15%) and how to dock.He also knows how to use his "lowly" IR intensity sensors as a make-shift <a href="https://fosstodon.org/tags/LIDAR" class="mention hashtag" rel="nofollow noopener" target="_blank">#LIDAR</a>.

cyclical_obsessive<a href="https://fosstodon.org/tags/Create3" class="mention hashtag" rel="nofollow noopener" target="_blank">#Create3</a>-Wali <a href="https://fosstodon.org/tags/Robot" class="mention hashtag" rel="nofollow noopener" target="_blank">#Robot</a> Dress Rehearsal Full Load <a href="https://fosstodon.org/tags/RaspberryPi5" class="mention hashtag" rel="nofollow noopener" target="_blank">#RaspberryPi5</a> Power System TestFull load (1min 4.96): No Throttling - NO PROBLEM.Wali with 14.4v powered USB hub inside cargo drawer:(WaLi: Wall follower Looking for Intelligence)The Pi5 has <a href="https://fosstodon.org/tags/ros2humble" class="mention hashtag" rel="nofollow noopener" target="_blank">#ros2humble</a> running in <a href="https://fosstodon.org/tags/Docker" class="mention hashtag" rel="nofollow noopener" target="_blank">#Docker</a> over PiOS 64-bit Bookworm Desktop

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