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.
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".
@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 3864
Total 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
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.
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.
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”
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
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?
cyclical_obsessive
🇨🇦 CleoQc 🍁🦜🧶🚐🌈