#turtlebot4 — Public Fediverse posts
Live and recent posts from across the Fediverse tagged #turtlebot4, aggregated by home.social.
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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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# 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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# 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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Google Gemini Thinks It Knows ROS Secrets
In July 2022, Clearpath published a video of a #TurtleBot4 delivering donuts.
Try as I might I could not get my TB5-WaLI to reliably deliver donuts, until I asked Google Gemini for help.
It solved my navigation reliability problems, but when I asked about the donut delivery video it confidently gave me some bad advice.
No Donut Delivery To Google!
https://github.com/turtlebot/turtlebot4/discussions/517#discussioncomment-16193022
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Oh no, my #ROS2Jazzy #robot discovered #MoonDream #VisionAssistant (v0.0.6 with local model #Python API) and found an image of "a bunch of models enjoying each others company sitting on a ledge" in its filesystem.
I hope it doesn't go all obsessive and start googling them.
Certainly not letting it near social media.
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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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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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Done It - No More FOMO
Added Raspberry Pi M.2 Hat+ to my Pi5 running Pi OS Trixie and rpi-cloned/raspi-config'd it to boot from the NVME SSD.
I can still backup the SSD to the SD Card for a while, but I guess eventually I'm going to have to backup to my 256GB USB stick.
This is a dry run for eventual NVME SSD boot for TB5-WaLI robot.
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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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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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#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.
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Choosing a name for my new #TurtleBot4lite
Trying out:
WaLI - Wall follower Looking for IntelligenceWouldn't you think they would include a TurtleBot4 logo sticker (or two)?
Yo #ClearPathRobotics Its #ROS2 and a #TurtleBot4 - It needs a logo on it.