# 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
And today with A very tight rein to keep Gemini helpful, on point to what I needed answers to in the only files I wanted to touch, my WaLI robot can walk and chew gum at the same time without throwing up his non-existent arms declaring I am asking too much of him.
Seven successful navigations including the very tricky exit from the laundry room! and he even let me ask him what his battery charge was while he was navigating.
Go Raspberry Pi (finally)
# 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
Week Later - Google Gemini Has Fried My Brain I sic’d Google Gemini on my ROS Nav2 issues: planning going too close to walls and bar stools causing goal failures “Out of Map Bounds” errors after tile-rug transitions Gemini would recommend something, and when I would tell it “that didn’t work”, it responds “right, you are using ROS Jazzy which works differently, try this next idea”, or I would point out it first told me one thing and then told me the opposite, and it would tell me "that is ver...
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
cyclical_obsessive