#create3 — Public Fediverse posts

@pythonhub

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.)

#TurtleBot #Robot #GoPiGo3 #Create3 #XLeRobot

@pythonhub

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.)

#TurtleBot #Robot #GoPiGo3 #Create3 #XLeRobot

@pythonhub

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.)

#TurtleBot #Robot #GoPiGo3 #Create3 #XLeRobot

@pythonhub

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.)

#TurtleBot #Robot #GoPiGo3 #Create3 #XLeRobot

@pythonhub

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.)

#TurtleBot #Robot #GoPiGo3 #Create3 #XLeRobot

Контракт с одним адресом на все EVM-блокчейны: как работает Safe Singleton Factory

Когда мне понадобилось задеплоить один и тот же контракт в разные EVM-сети с одинаковым адресом — оказалось, что всё не так просто. Даже если всё заранее посчитать и подготовить, любой лишний nonce может всё сломать. В этой статье я разбираю, как вообще формируется адрес контракта при деплое (при использовании CREATE и CREATE2), зачем появился Deterministic Deployment Proxy, и почему Safe в итоге сделали свою версию — Safe Singleton Factory. Расскажу, как ей воспользоваться через Remix, Foundry и Hardhat, на что стоит обратить внимание (например, при работе с байткодом), и какие грабли могут ждать при попытке всё упростить.

https://habr.com/ru/articles/934426/

#CREATE #CREATE2 #CREATE3 #Safe_Singleton_Factory #EVM #deploy #Deterministic_Deployment_Proxy #proxy #smartcontract #safe

Контракт с одним адресом на все EVM-блокчейны: как работает Safe Singleton Factory

Когда мне понадобилось задеплоить один и тот же контракт в разные EVM-сети с одинаковым адресом — оказалось, что всё не так просто. Даже если всё заранее посчитать и подготовить, любой лишний nonce может всё сломать. В этой статье я разбираю, как вообще формируется адрес контракта при деплое (при использовании CREATE и CREATE2), зачем появился Deterministic Deployment Proxy, и почему Safe в итоге сделали свою версию — Safe Singleton Factory. Расскажу, как ей воспользоваться через Remix, Foundry и Hardhat, на что стоит обратить внимание (например, при работе с байткодом), и какие грабли могут ждать при попытке всё упростить.

https://habr.com/ru/articles/934426/

#CREATE #CREATE2 #CREATE3 #Safe_Singleton_Factory #EVM #deploy #Deterministic_Deployment_Proxy #proxy #smartcontract #safe

Контракт с одним адресом на все EVM-блокчейны: как работает Safe Singleton Factory

Когда мне понадобилось задеплоить один и тот же контракт в разные EVM-сети с одинаковым адресом — оказалось, что всё не так просто. Даже если всё заранее посчитать и подготовить, любой лишний nonce может всё сломать. В этой статье я разбираю, как вообще формируется адрес контракта при деплое (при использовании CREATE и CREATE2), зачем появился Deterministic Deployment Proxy, и почему Safe в итоге сделали свою версию — Safe Singleton Factory. Расскажу, как ей воспользоваться через Remix, Foundry и Hardhat, на что стоит обратить внимание (например, при работе с байткодом), и какие грабли могут ждать при попытке всё упростить.

https://habr.com/ru/articles/934426/

#CREATE #CREATE2 #CREATE3 #Safe_Singleton_Factory #EVM #deploy #Deterministic_Deployment_Proxy #proxy #smartcontract #safe

Контракт с одним адресом на все EVM-блокчейны: как работает Safe Singleton Factory

Когда мне понадобилось задеплоить один и тот же контракт в разные EVM-сети с одинаковым адресом — оказалось, что всё не так просто. Даже если всё заранее посчитать и подготовить, любой лишний nonce может всё сломать. В этой статье я разбираю, как вообще формируется адрес контракта при деплое (при использовании CREATE и CREATE2), зачем появился Deterministic Deployment Proxy, и почему Safe в итоге сделали свою версию — Safe Singleton Factory. Расскажу, как ей воспользоваться через Remix, Foundry и Hardhat, на что стоит обратить внимание (например, при работе с байткодом), и какие грабли могут ждать при попытке всё упростить.

https://habr.com/ru/articles/934426/

#CREATE #CREATE2 #CREATE3 #Safe_Singleton_Factory #EVM #deploy #Deterministic_Deployment_Proxy #proxy #smartcontract #safe

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.

#Create3 #ROS #Turtlebot #robot #statemachine

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.

#Create3 #ROS #Turtlebot #robot #statemachine

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.

#Create3 #ROS #Turtlebot #robot #statemachine

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.

#Create3 #ROS #Turtlebot #robot #statemachine

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.

#Create3 #ROS #Turtlebot #robot #statemachine

My 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.

#Create3 #GoPiGo3 #RaspberryPi5 #robot

My 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.

#Create3 #GoPiGo3 #RaspberryPi5 #robot

My 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.

#Create3 #GoPiGo3 #RaspberryPi5 #robot

My 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.

#Create3 #GoPiGo3 #RaspberryPi5 #robot

My 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.

#Create3 #GoPiGo3 #RaspberryPi5 #robot

@pythonhub

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 #GoPiGo3 platform (and briefly the #Create3 platform).

https://labhorizons.co.uk/2024/07/can-we-learn-from-insect-navigation-to-make-better-autonomous-robots/

This research exactly aligns with the goal for my Raspberry Pi based autonomous robot using an Oak-D-Wide vision sensor.

https://forum.dexterindustries.com/t/where-is-the-gopigo-robots-home/9865?u=cyclicalobsessive

@pythonhub

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 #GoPiGo3 platform (and briefly the #Create3 platform).

https://labhorizons.co.uk/2024/07/can-we-learn-from-insect-navigation-to-make-better-autonomous-robots/

This research exactly aligns with the goal for my Raspberry Pi based autonomous robot using an Oak-D-Wide vision sensor.

https://forum.dexterindustries.com/t/where-is-the-gopigo-robots-home/9865?u=cyclicalobsessive

(Again) so excited that my #ros2humble wallfollower.py node drove my #Create3 #robot “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.

(Again) so excited that my #ros2humble wallfollower.py node drove my #Create3 #robot “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.

#Create3 #IRsensor SLAM - First Attempt

My ir2scan node is working well, but setting the 52 #slam_toolbox params is a mystery.

My create3_navigation slam.launch.py (using #Turtlebot4 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 #odometry put them.

#Create3 #IRsensor SLAM - First Attempt

My ir2scan node is working well, but setting the 52 #slam_toolbox params is a mystery.

My create3_navigation slam.launch.py (using #Turtlebot4 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 #odometry put them.

#Create3 #IRsensor SLAM - First Attempt

My ir2scan node is working well, but setting the 52 #slam_toolbox params is a mystery.

My create3_navigation slam.launch.py (using #Turtlebot4 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 #odometry put them.

#Create3 #IRsensor SLAM - First Attempt

My ir2scan node is working well, but setting the 52 #slam_toolbox params is a mystery.

My create3_navigation slam.launch.py (using #Turtlebot4 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 #odometry put them.

#Create3 #IRsensor SLAM - First Attempt

My ir2scan node is working well, but setting the 52 #slam_toolbox params is a mystery.

My create3_navigation slam.launch.py (using #Turtlebot4 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 #odometry put them.

#Create3-WaLi (my "Wallfollower Looking for Intelligence" #robot) became truly #autonomous today. When he wakes up he starts being WaLi without my help. (#ROS2 #Humble in #Docker on #RaspberryPi5 #PiOS #Bookworm)

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 #LIDAR.

#Create3-WaLi (my "Wallfollower Looking for Intelligence" #robot) became truly #autonomous today. When he wakes up he starts being WaLi without my help. (#ROS2 #Humble in #Docker on #RaspberryPi5 #PiOS #Bookworm)

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 #LIDAR.

#Create3-Wali #Robot

Dress Rehearsal
Full Load #RaspberryPi5
Power System Test

Full 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 #ros2humble running in #Docker over PiOS 64-bit Bookworm Desktop

#Create3-Wali #Robot

Dress Rehearsal
Full Load #RaspberryPi5
Power System Test

Full 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 #ros2humble running in #Docker over PiOS 64-bit Bookworm Desktop

**Terrible Turmoil Totally Too Talkative (in my head)**

After 7 years of working with my two #GoPiGo3 robots, and that great community, I am way too overly excited to be building a new #robot

#Create3 WaLi: Wall follower Looking for Intelligence

There is a heavy feeling of abandonment of my dreams for my current robots, Carl and HumbleDave.

**Terrible Turmoil Totally Too Talkative (in my head)**

After 7 years of working with my two #GoPiGo3 robots, and that great community, I am way too overly excited to be building a new #robot

#Create3 WaLi: Wall follower Looking for Intelligence

There is a heavy feeling of abandonment of my dreams for my current robots, Carl and HumbleDave.

Mein #create3 "hello world"

#robotics #ros2

Today I learned the following: If you have dependencies in a #ros2 - package, there is a package.xml, where you configure them.
Here is the thread in the #create3 - forum, where I learned this.
https://github.com/iRobotEducation/create3_docs/discussions/283
#robotics

Um dem #create3 eigene Funktionalität zu verpassen muss man ROS2-packages entwickeln. Die ersten Schritte das findet man im #ROS2 Tutorial für Galactic:
https://docs.ros.org/en/galactic/Tutorials.html
#robotics

Ich möchten meinen #create3 in mehreren Netzen (WLAN und USB) gleichzeitig betreiben und hab mich gefragt, ob das wohl geht und was ich machen muss.
Meine Frage furde im create3-Forum beantwortet.
https://github.com/iRobotEducation/create3_docs/discussions/274
In den create3_docs steht die Antwort.
https://iroboteducation.github.io/create3_docs/setup/xml-config/
#ros2 #robotics

Wenn man auf dem #create3 zusätzllche Sensoren und mehr Rechenpower benötigt, muss man ihn mit einem SBC verbinden. Hier ist das für einen Raspi 4 beschrieben.
https://edu.irobot.com/learning-library/connect-create-3-to-raspberry-pi
#robotics #ros2

Leider ist es nicht möglich, das topic /ir_intensity in rviz2 als PointCloud darstellen zu lassen.
Ein Versuch führte bei mir darüberhinaus zu #ros2 - Message-Type - Verwirrung.
Das #create3 - "Forum" war hier aber sehr hilfreich.
https://github.com/iRobotEducation/create3_docs/discussions/267
#robotics

Zusätzlich zur Einstiegs-Website gibt es ein "erste Schritte" - Video. Wenn man dem folgt, bekommt man den #create3 problemlos so weit, dass man mit ihm über #ros2 und #bluetooth interagieren kann.
https://www.youtube.com/watch?v=UeLHrAvZ_h0
#robotics

iRobot hat eine ziemlich brauchbare Einstiegsseite für ihren #create3 erstellt.
https://iroboteducation.github.io/create3_docs/

#ros2 #robotics

Vor einem halben Jahr hab ich beschlossen #ros2 zu lernen. Nach ersten Versuchen mit einem Kettenfahrzeug-Kit, hab ich mir neulich einen Schulungsroboter bestellt.
Vorgestern ist der #create3 angekommen.
#robotics

Anyone aware of any studies of #odometry accuracy of #encoder only versus encoder with #IMU using #EKF?

The #iRobot #Create3 even fuses encoders with IMU and an #optical flow sensor".

Does that suggest I should not expect great improvement with only encoders and IMU?

Anyone aware of any studies of #odometry accuracy of #encoder only versus encoder with #IMU using #EKF?

The #iRobot #Create3 even fuses encoders with IMU and an #optical flow sensor".

Does that suggest I should not expect great improvement with only encoders and IMU?

>"What's on your mind?"

My #TurtleBot4lite arrives today! I participated in the #iRobot #Create3 beta (via #simulation,
they didn't gift me with hardware), so I am familiar with the #robot's lower level #topics, #services, and #actions.

My #ROS2 #Galactic #Ignition #Gazebo crashes loading the default #TB4 world.

And TB4 comes up half embedded in an obstacle in the maze world, but managed #dock, #undock, #wallfollow and to drive the TB4lite around with a #teleop_twist_keyboard node.

>"What's on your mind?"

My #TurtleBot4lite arrives today! I participated in the #iRobot #Create3 beta (via #simulation,
they didn't gift me with hardware), so I am familiar with the #robot's lower level #topics, #services, and #actions.

My #ROS2 #Galactic #Ignition #Gazebo crashes loading the default #TB4 world.

And TB4 comes up half embedded in an obstacle in the maze world, but managed #dock, #undock, #wallfollow and to drive the TB4lite around with a #teleop_twist_keyboard node.