#gopigo3 — Public Fediverse posts
Live and recent posts from across the Fediverse tagged #gopigo3, aggregated by home.social.
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Successful 27 day #ROS2 #LyricalLuth #C++ #BehaviorTree (with #Blackboard ) #SpeechRecognition #TextToSpeech #LifestyleNodes project integrated with my #RaspberryPi4 #GoPiGo3 #Robot written, debugged, and full functionality testing with one to two daily sessions on the free #ClaudeAI web browser interface.
I had to remind/request Claude use #MultiTheadedExecutors and #ReentrantCallbackGroups and some #MutuallyExclusives but all other implementation decisions were as I would choose.
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Robot With Worms In Its Head
Some smarter-than-me folk created a program for the GoPiGo robot and later the #GoPiGo3 robot to simulate some of the "thinking" of a C. Elegans worm.
As written it was booooring on the GoPiGo3 even with the now 2x faster #RaspberryPi4 processor of Lyrical-Dave.
I made a few mods, gave the worm a voice, and added some "robot self-protection"
Code at: https://github.com/slowrunner/LyricalDave/blob/main/systests/worm/GoPiGo3Connectome.py
Video at:
https://youtu.be/mOKBCGGco2U -
GoPiGo3 Robot Accidentally Runs Validated Safe Program
In my early morning fog, I accidentally triggered a small singularity: My GoPiGo3 robot, Lyrical-Dave, performed a "validated safe" program at a "not safe" moment.
This is the first time any GoPiGo3 robot has executed a proposed "Universal Robot Language" program.
https://github.com/URML-MARS/URML/discussions/542#discussion-10319425
#GoPiGo3 #URML #RobotLanguage
Dave after running urml program without a chaperone: -
My Robot Helped Out
While the concept of a “Universal Robot Language” can seem esoteric, the http://urml.dev project has just released a prototype URML runtime for the GoPiGo3.
Discussion on the scope and emergence of the GoPiGo3 runtime: https://github.com/URML-MARS/URML/discussions/523#discussion-10302611
Additionally, a discussion of how the GoPiGo robot “Lyrical Dave” helped the URML dev team: https://urml.dev/blog/field-notes-urml-on-a-raspberry-pi/
Disclaimer: I am a GoPiGo3 user, no affiliation to either of the products.
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5-year old "Why did my robot do that?" mystery solved!
Lingering question: Why did the 2021 video of my GoPiGo3 ROS 2 Robot Dave "running a 1k" quit 10 minutes into the run?
Answer just found today: Because that is all I asked it to capture:
Line in my run_1k.sh script:
/home/pi/rosbot-on-gopigo3/plib/captureH264.py -t 600 -fps 4 &
I asked for 600 seconds of 4 fps video, and missed recording the grand finish of "Dave's 1k Run".
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@CleoQc > "improved #GoPiGo3 API installation" was supposed to help.
Believe me, it will help...next year. The pain was always deferred to make the default ROS build play nice with Python.
Lyrical-Dave and all my test programs:
Type Lines
.cpp 108
.sh 2787
.py 21689
.md 2176
.txt 754
.yaml 3864Total Lines: 31,378
About 1k lines needed to be changed manually. Maybe another 1k lines of sed substitutions were possible for whole dirs.
+Two 10 minute Claude sessions
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Two ROS 2 Robots Are Alive Again!
TB5-WaLI has been "alive" continuously for the last 18 months, but Dave has suffered six annual re-incarnations as new versions of ROS 2 and Ubuntu are released.
This year Dave's re-incarnation from "Kilted-Dave" was complicated by an improved #GoPiGo3 API installation into a #Python #VirtualEnvironment
I am feeling so happy after two weeks of updating and debugging to have Lyrical-Dave autonomously "fully alive" again.
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For more than 8 years, each year I have upgraded at least one of my robots to the latest Ubuntu, and every year the audio output and input configuration I used the prior year broke.
Days re-reading every Ubuntu audio troubleshooting guide ever published. Eventually I would stumble on something that worked.
This year upgrading to Ubuntu 26.04 again broke GoPiGo3 robot Dave's audio, but this time I had Claude. 15 minutes and he's talking again.
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I cannot contain my happiness!
I figured out how make the new GoPiGo3 Raspberry PiOS Trixie install work on Ubuntu 26.04 Resolute Raccoon.
Now I can upgrade my ROS 2 robot “Kilted-Dave” to become “Lyrical-Dave”
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With a ROS 2 Lyrical Luth GoPiGo3 build now in process, I took time to reflect on the 10 year history of ROS on the Raspberry Pi powered GoPiGo3 robot platform:
Modular Robotics recently released a new pure Python install for Raspberry PiOS Trixie, which has set in motion a goal post for me to re-incarnate robot Kilted-Dave as Lyrical-Dave
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Argh!! Python Virtual Environments have virtually ruined me.
For years I have put
#!/usr/bin/python3
at the top of all my robot's Python files and made them executable so I could just type:
./battery.py
Now that won't work and I have to type the python3 or the interpreter won't find any of my site packages that only live in the virtual env.
What is the answer?
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Four years ago I spent a week trying to develop the single C++ EasyGoPiGo3 drive_cm() method AND FAILED.
Last week I spent a single evening with Claude. After a week reviewing and testing the result, I now have 38 EasyGoPiGo3 C++ API methods fully tested and documented.
It is not without embarrassment that I admit this SUCCESS.
#GoPiGo3 #Claude_code #Cpp #Robots #RaspberryPi #PiOS_Trixie
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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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RE: https://fosstodon.org/@cyclical_obsessive/116076739339328694
#0llama turned my #GoPiGo3 #robot Dave schizophrenic when its #LLM started talking to itself
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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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Today I read (about uv):
"Eggs were the pre-wheel binary format. pip still handles them; uv doesn’t even try. The format has been obsolete for over a decade."
Over the years I have tried to keep a “working” installer for the GoPiGo3 API .eggs as the PiOS and Ubuntu OS released annual versions.
Recently started to get message “setup.py deprecated”, and now I hear "obsolete for a decade"
50 years ago I installed with paper tape. I'm so old I'm going to "Rust" (with uv)?
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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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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 -
Looking for opinions about OpenMind OM1 as a source for reusable #Robot_Intelligence. I run 3 robots - 2 #GoPiGo3 robots and a #TurtleBot4 (WaLI - Wallfollower Looking for Intelligence).
Robots need a way to share and “inherit” knowledge and abilities. OM1 is an open source robot domain transferable “brain” based on a trained #LLM. I don’t know how to evaluate the usefulness of the model’s knowledge and how much NLU to Turtlebot4 interface code I will have to write to use #OpenMind_OM1.
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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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Visiting https://www.trappedinside.ai/ got me thinking
#GoPiGo3 #RaspberryPi3B #Robot Carl has been rebooted, for safety, and updates:pi@Carl:~/Carl $ grep Booted stats/stats.year.*
stats/stats.year.1:Days Booted This Year: 105
stats/stats.year.2:Days Booted This Year: 56
stats/stats.year.3:Days Booted This Year: 53
stats/stats.year.4:Days Booted This Year: 16
stats/stats.year.5:Days Booted This Year: 13
stats/stats.year.6:Days Booted This Year: 9
stats/stats.year.7:Days Booted This Year: 9 -
A Robot Has Got To Speak His Mind!
This morning my robot Carl said something unusual - "Unable to undock!"
It has been so long since I heard him say that, over two years in fact. I had forgotten he can recognize something is blocking his intended path after his battery has been fully charged.
I moved the bag and heard:
2025-06-07 13:11|Initiating dismount.
2025-06-07 13:11|Dismounting
2025-06-07 13:11|New Charging State Not Charging
2025-06-07 13:11|Dismount complete -
This should revolutionize home robotics! We need it to be an ISO robotics standard and noone should buy a robot that does not either come with it, or has an option to add it to the purchase. I have two 24/7/365 robots that have used rube-goldberged mechanical mating of electrical contacts for 1A 12v charging for years.
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ROS 2 Success with ReentrantCallbackGroups
Robot "Kilted-Dave" was not able to declare docking success from the dock callback because the battery_state callback was not allowed to execute to update the new charging state.
I had already setup callback groups but failed to initialize the battery_state callback group as reentrant.
Single line fix to a problem plaguing my #GoPiGo3 #RaspberryPi4 #ROS2_KiltedKaiju #robot since he was "Humble-Dave" on #ROS2Humble