#turtlebot4 — Public Fediverse posts

# 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

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

# 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

https://forum.dexterindustries.com/t/years-asking-humans-and-google-finally-google-gemini-answered/10759/2?u=cyclicalobsessive

#GoogleGemini #ROS2Nav2 #TurtleBot4 #RaspberryPi5

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 ->

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.

#ollama #tinyllama #Gemma3

#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.

Choosing a name for my new #TurtleBot4lite

Trying out:
WaLI - Wall follower Looking for Intelligence

Wouldn'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.