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188 results for “cyclical_obsessive”
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@cyclical_obsessive I’m by no means an expert, but on core principles #OM1 might be promising as a runtime/agent layer on top of #ROS2. I’d still treat it like any new control stack: test it in simulation, keep low-level control in #ROS (#Nav2/ #SLAM), and force OM1 to communicate through a narrow, audited action interface. Never let a chatty #LLM directly drive your motors.
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# TB5-WaLI Home Tour Success (x3)
==== 3/31/26 wali_tours test ====
Successfully performed three 10-stop wali_tours of about 7 minutes each (including successful recoveries)Dock, Set_Pose_Docked, Undock,
Drive/Turn to "Ready Position"Nav to front_door, couch_view, laundry, table, dining, kitchen, patio_view, office, hall_view, ready
Dock
#ROS2Nav2 #TurtleBot4 #RaspberryPi5
Navigation, Localization, TurtleBot4, wali, and wali_tour nodes consume 35% not navigating, 75% cpu navigating
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Ugh - ROS 2 Nav2 Testing (with default planners and critics - just parameter tweaks)
Managing to nav successfully along open paths, but choke points fail then succeed the second ask.
Ah, but the laundry room - robot sometimes needs human assistance. Perhaps "intentional failures to prevent being assigned laundry duty".
#Ros2Nav2 #TurtleBot4 #RaspberryPi5 #AutonomousRobots
Extensive ALT text on photo
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And today with A very tight rein to keep Gemini helpful, on point to what I needed answers to in the only files I wanted to touch, my WaLI robot can walk and chew gum at the same time without throwing up his non-existent arms declaring I am asking too much of him.
Seven successful navigations including the very tricky exit from the laundry room! and he even let me ask him what his battery charge was while he was navigating.
Go Raspberry Pi (finally)
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# Week Later Google Gemini Has Fried My Brain
Never ask an AI for help - they will help you to go crazy.
The story of asking Gemini to help optimize ROS 2 Jazzy Nav2 for my TurtleBot4 / Raspberry Pi 5 robot TB5-WaLI
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Years Asking - #ROS Issue Finally Solved
For years I have asked every human that would listen, why my ROS nodes complain about a shutdown exception. (And I mean **yeeeeeears**. )
Finally asking #GoogleGemini has shown the pattern that should have been in the ROS tutorials all along.
(I have a feeling the "if rclpy.ok():" is actually all that is needed. Have not tested sufficiently yet.)
https://github.com/turtlebot/turtlebot4/discussions/517#discussioncomment-16121153
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Years Asking - #ROS Issue Finally Solved
For years I have asked every human that would listen, why my ROS nodes complain about a shutdown exception. (And I mean **yeeeeeears**. )
Finally asking #GoogleGemini has shown the pattern that should have been in the ROS tutorials all along.
(I have a feeling the "if rclpy.ok():" is actually all that is needed. Have not tested sufficiently yet.)
https://github.com/turtlebot/turtlebot4/discussions/517#discussioncomment-16121153
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Years Asking - #ROS Issue Finally Solved
For years I have asked every human that would listen, why my ROS nodes complain about a shutdown exception. (And I mean **yeeeeeears**. )
Finally asking #GoogleGemini has shown the pattern that should have been in the ROS tutorials all along.
(I have a feeling the "if rclpy.ok():" is actually all that is needed. Have not tested sufficiently yet.)
https://github.com/turtlebot/turtlebot4/discussions/517#discussioncomment-16121153
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Years Asking - #ROS Issue Finally Solved
For years I have asked every human that would listen, why my ROS nodes complain about a shutdown exception. (And I mean **yeeeeeears**. )
Finally asking #GoogleGemini has shown the pattern that should have been in the ROS tutorials all along.
(I have a feeling the "if rclpy.ok():" is actually all that is needed. Have not tested sufficiently yet.)
https://github.com/turtlebot/turtlebot4/discussions/517#discussioncomment-16121153
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Years Asking - #ROS Issue Finally Solved
For years I have asked every human that would listen, why my ROS nodes complain about a shutdown exception. (And I mean **yeeeeeears**. )
Finally asking #GoogleGemini has shown the pattern that should have been in the ROS tutorials all along.
(I have a feeling the "if rclpy.ok():" is actually all that is needed. Have not tested sufficiently yet.)
https://github.com/turtlebot/turtlebot4/discussions/517#discussioncomment-16121153
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What Does A Robot See In The Mirror?
I couldn't resist comparing the #MoonDream 0.5b and 2b models looking at images of Dave or Wali.
The 2b model recognized Dave has a Minion character and is a robot.
The 2b model recognized that Wali is a robot but did not recognize the WALL-E character.
The 0.5b model simply hallucinates stuff, just like Ollama local models did for text queries.
#MoonDream #GoPiGo3 #TurtleBot4lite #Robot #Vision #LanguageModels #RaspberryPi5_8gb
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Just had to try the #MoonDream Vision Language Assistant on my 4GB #RaspberryPi4 #GoPiGo3 #robot and my 8GB #RaspberryPi5 #TurtleBot4lite robot:
TL:DR; Pi5 with 2B model might be useful, but the 0.5B model will not be useful regardless of running on Pi4 or Pi5.
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Dream has been to have my robot wander (using vSLAM) taking pictures of “unknown interesting objects”, (<-hard part), segmenting and learning the objects for #OpenWorldObjectDetection
(All local processing for privacy)
#MastersThesisIdea use #GoPiGo3 or #TurtleBot4 robot with #Oak-D #StereoDepthCamera, #ROS 2 distributed processing for #RTABmap #vSLAM and rejected RTABmap frames (unknowns) for #UnknownObject Detection and incremental model #MachineLearning
Reference Paper in comment ->
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Every 2 years #ROS releases a new LTS version requiring a new #Ubuntu version, (with new #Python version), that requires rebuilding my robot Dave and revisiting my installer for the robot hardware Python API, robot files, and sensors.
For years I wondered why I could not just apt install a #GoPiGo3 deb file, or just build a #pyprojecttoml ?
So I built each. Now understand why I must use an install script.
#DexterIndustries devs were genius!
The #EducationalRobot market is a mess.
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#Coffee - "An Engineer's Thoughts"
I've been drip brewing fresh ground "Dunkin' Original Whole Bean" coffee for more than 15 years -
With my 2 hard-boiled egg, 1 slice sprouted grain cinnamon bread, 4 strawberries and Cheerios with almond milk - #breakfast.
US$9.33 a bag total brews 89 8-oz cups for a cost of approximately $0.10 a cup.
The #CoffeeBeans have gone up an average of 9% per year for the last five years.
(Comparatively, my weight has "only" suffered 1% inflation per year.)
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Turns out the current generation of model based AI cannot tell when it does not know the answer to a question; something humans can tell but prefer not to.
I thought all my robots needed was an #inference engine with #deduction capability.
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I really don’t know why I waited 8 years before adding 10 lines to clean up robot Carl, Dave, and TB5-WaLI's life.log file after a power fail / improper shutdown of their Raspberry Pi ( writes a string of null chars in the log before the power is jerked).
I have always manually tabbed through their logs to find the offending line messing up their statistics scripts.
FINALLY! {Carl, Dave, WaLI, RPi5Desk} logs automatically clean out null chars.
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#RaspberryPi3 #GoPiGo3 Carl still runs on 8 NiMH batteries, and just today received his 13th set of new Eneloop 2000mAH AA cells.
His “Playtime” was down to 3.5 hours with a 3 hour charge time after 1421 cycles. (In the past I have replaced his batteries after 800-900 docking cycles.)
It really is a miracle that after more than 7 years (59,521 hours) of “life” - GoPiGo3 Carl is still walkin’, talkin’, and lis’nen to me. (And I’m still telling him nearly every day: “Hey Carl, Go To Sleep!”
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> Removing PulseAudio..continuing the shift to PipeWire
My #GoPiGo3 robot just shuddered in fear of becoming deaf and mute.
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> Removing PulseAudio..continuing the shift to PipeWire
My #GoPiGo3 robot just shuddered in fear of becoming deaf and mute.
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> Removing PulseAudio..continuing the shift to PipeWire
My #GoPiGo3 robot just shuddered in fear of becoming deaf and mute.
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> Removing PulseAudio..continuing the shift to PipeWire
My #GoPiGo3 robot just shuddered in fear of becoming deaf and mute.
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> Removing PulseAudio..continuing the shift to PipeWire
My #GoPiGo3 robot just shuddered in fear of becoming deaf and mute.
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Playing around with "knowledge transfer" to my #Robots
I told each "I need to go take a shower. Talk to you later."
RPi4 #GoPiGo3 robot Dave with tinyllama responded: "I understand how important your shower is... Enjoy the shower!"
RPi5 #TurtleBot4 robot WaLI with Gemma responded: "Acknowledged. Initiating shower sequence. Requesting allocation of cleaning supplies..."
I hope I don't get a "We shipped your soap" email from Amazon.
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@vermaden @stafwag @BastilleBSD
> Rockchip is probably a lot better idea
Every board has its app - all my autonomous robots enjoy the low power sipping with just enough processing for their needs with various Pi boards.
Rockchip that I tried hogged the bot's battery down real fast, and ran too hot when taxed hard.
Carl has speech reco, text-to-speech, OpenCV vision, totally autonomous and "plays" 8 hours before needing to return to his dock. "Alive" for 7 years.
#RaspberryPi3 #GoPiGo3 -
My #RaspberryPi5 #TurtleBot4lite robot WaLI (Wallfollower Looking for Intelligence) could really use an “off the shelf” mind!
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Very cool concept - my home is a bit too small to sport a bot with the XLeRobot footprint, but I already have the tiny WALL-E. (look real closely at the Git repo photos - top shelf)
I vote XLeRobot to be the next gen TurtleBot! (Since iRobot sank the TurtleBot4 we need TurtleBot5 candidates.)
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> What's on your mind?
Just finished "Speaker For The Dead", Orson Scott Card.
"Jane" joins my list of "aliens" I'd most like to have as a friend
Somebody else once tried to sell me on "The Truth Will Set You Free"; I'm not buying it anymore, but it sure makes a great read.
(Some "real aliens among us" seem to have special powers against the "speaking of the truth" these days).
#SpeakerForTheDead
#OrsonScottCard
#AndrewWiggins
#CareAboutTheTruth
#ThereAreNoAlternativeFacts -
Robot 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.