GoPi5Go

Autonomous ROS2 home robot based on GoPiGo3 and Raspberry Pi 5

Reincarnating Humble Dave (HumbleDave) and ROSbot Dave (rosbot-on-gopigo3)
on the Raspberry Pi5 Single Board Computer

GoPi5Go-Dave Specs:

• Platform: GoPiGo3 from ModularRobotics

• Processor: Raspberry Pi 5

  • 2.4 GHz Max
  • Quad-core 64-bit Arm Cortex-A76
  • 4GB Memory
  • Onboard Dual Band 802.11ac Wi-Fi
  • 2x USB 3.0 ports (up to 5Gbps operation)
  • 2x USB 2.0 ports

• Docker ROS 2 Container

  • OS: Ubuntu 22.04 basic
  • ROS2 Humble Hawksbill

• Control Interfaces:

  • ssh over WiFi
  • ROS2 Humble Hawksbill in Docker
  • 2.4GHz Wireless USB Logitech F710 Gamepad

• Sensors (GoPiGo3 Intrinsic)

  • Battery_Voltage (GoPiGo3 intrinsic)
  • Regulated_5v_Voltage (GoPiGo3 intrinsic)
  • Magnetic Wheel Encoders 1920 cnt/rev (GoPiGo3 intrinsic, 16-tick motors)

• Sensors (Raspberry Pi Intrinsic)

  • Processor Temperature
  • Processor Low Voltage Throttling Active / Latched
  • Processor Temperature Throttling Active / Latched

• Sensors (Added):

  • YDLIDAR X4 - 360 degrees, 12cm-10m range on half degree increment, ~8Hz scanning
  • MPU9250 Inertial Measurement Unit also provides ambient temperature
  • Oak-D-W-97: RGB Center camera, Stereo Grayscale Depth cameras
    HFOV: 150 VFOV: 80 deg Resolution: 1Mpx 1280x800

• Actuators/Effectors (GoPiGo3 Intrinsic)

  • Wheel Motors
  • Multi-color programmable LED (x3)
  • Program controlled Red LED (x2)
  • Tri-color Battery Voltage Indicator

• Added Actuators/Effectors

  • USB audio speaker

• Available GoPiGo3 Ports

  • I2C: MPU9250 IMU
  • I2C: Unused
  • Grove Analog/Digital I/O AD1: Unused
  • Grove Analog/Digital I/O AD2: Unused
  • SERVO1: Unused
  • SERVO2: Unused

• Power Source: ModRobotics 3000mAH 11.1v Rechargeable Battery

  • 12.3v to protection circuit cutoff at 8.1-8.4v!
  • Roughly 25wH
  • Charger never reaches trickle charge due to powering Pololu 5v circuit

• Play Time: (Using 10.1v 15minutes left "need to shutdown" limit)

  • "GoPi5Go-Dave ROSbot" 2.8 hours (averages 7.5w 20wH)
  • "100% wandering" 2.5 hours

• Recharger:

  • ModRobotics Li-ion Battery Charging adapter
  • 12.6v 1A output with charging/charged LED
  • About 2.4 hours recharge from 10.1v docking to 100mA charging current

• Physical:

  • 2.5 lbs Total
  • 7" wide x 9" Long x 12" High

• Total Cost: $782

• First "Life as 24/7 ROSbot": Aug 2024

• First "Life as 24/7 GoPi5Go-Dave": March 2024 (PiOS Bookworm, ROS 2 Humble over Ubuntu 22.04 in Docker)

• First "Life as Humble-Dave": Oct 7, 2022 (ROS 2 Humble, Ubuntu 22.04) Lived: 1940 hrs in 344 sessions 3312m traveled

• First "Life as ROSbot Dave": June 12, 2021 (ROS 2 Foxy, Ubuntu 20.04)

• First "Life as ROS-GoPiGo3": Apr 2019 (Robot Carl, ROS Kinetic, Raspbian Stretch)

• GoPiGo3 API Modifications for Bookworm/Raspberry Pi 5

  • Reduced SPI transfer rate to 250 khz for Pi5
  • Removed Software I2C for Bookworm
  • Removed all pigpio dependancy (Was configuring SPI for ALT0 - no longer needed)
  • Changed distance sensor and distance sensor examples to default to hardware I2C
  • Changed power monitor to gpiod (was RPi.GPIO)

SETUP:

Setup Document

Power and Load Statistics

ROS2 Humble / Ubuntu 22.04 in Docker on Raspberry Pi 5 running PiOS Bookworm 64-bit Desktop

• Undocked: 7.7W 1.0GB Load 0.26 = 5% of Pi5 CPU
• • LIDAR: 8.4W 1.0GB Load 0.30 = 7% CPU
• • Nav2: 8.8W 1.2GB Load 0.95 = 25% CPU
• To Nav2 Goal: 10.4W 1.2GB Load 0.98 = 25% CPU
• (lost) 1.3GB Load 1.20 = 30% CPU

Life Status as of Dec 14, 2024

*** GoPi5Go Dave TOTAL LIFE STATISTICS ***
Total Awake:   5763.25  hrs
Total Naps:     57.05  hrs
Total Life:    5820.30  hrs (since Mar 17, 2024)
GoPi5Go-Dave Playtimes (Undocked-Docked): 904
Total Dockings:  1302
New Battery Installed At Docking: 416
This Battery At Cycle:  886
Average playtime (last three) 2.5 hrs 
Average docked time (last three) 2.6 hrs 
Sessions (boot):  100
Average Session:  57.6 hrs
Safety Shutdowns:  22
Total Travel:  1482.4 meters 4863.5 feet
 
Last Undocking String:  2024-12-14 11:57|dave_node.py| ---- GoPi5Go-Dave ROS 2 Undocking, Charge Current 98 mA 12.1v after 2.6 h charging
Last Docking   String:  2024-12-14 09:22|dave_node.py| ---- GoPi5Go-Dave ROS 2 Docking 1302 : success at battery 10.1v after 2.6 h playtime +
pi@GoPi5Go:DOCKER:~/GoPi5Go/ros2ws $ ./status.sh

********** ROS2 GoPiGo3 Status ******************************
Saturday 12/14/24
 12:02:50 up 1 day,  3:58,  0 users,  load average: 0.15, 0.21, 0.24
               total        used        free      shared  buff/cache   available
Mem:           4.0Gi       1.1Gi       1.9Gi        22Mi       1.0Gi       2.8Gi
Swap:          199Mi          0B       199Mi
GoPiGo3 Battery Voltage: 11.7 volts


ROS 2 NODES
pi            66      44  0 Dec13 pts/0    00:00:00 /usr/bin/python3 /opt/ros/humble/bin/ros2 run ros2_gopigo3_node gopigo3_node
pi           108      44  0 Dec13 pts/0    00:00:00 /usr/bin/python3 /opt/ros/humble/bin/ros2 run gopi5go_dave docking_node
pi           122      44  0 Dec13 pts/0    00:00:00 /usr/bin/python3 /opt/ros/humble/bin/ros2 run ros2_gopigo3_node odometer
pi           137      44  0 Dec13 pts/0    00:00:00 /usr/bin/python3 /opt/ros/humble/bin/ros2 run gopi5go_dave say_node
pi           198      44  0 Dec13 pts/0    00:00:00 /usr/bin/python3 /opt/ros/humble/bin/ros2 run gopi5go_dave dave_node
pi           477       1  0 Dec13 pts/2    00:00:00 /usr/bin/python3 /opt/ros/humble/bin/ros2 run gopi5go_dave battery_node
pi            81      44  0 Dec13 pts/0    00:00:00 /usr/bin/python3 /opt/ros/humble/bin/ros2 launch ros2_gopigo3_node ros2_gopi5go_dave_state_and_joint.launch.py
pi           158      44  0 Dec13 pts/0    00:00:00 /usr/bin/python3 /opt/ros/humble/bin/ros2 launch teleop_twist_joy teleop-launch.py joy_config:=F710