Years Asking - #ROS Issue Finally Solved
For years I have asked every human that would listen, why my ROS nodes complain about a shutdown exception. (And I mean **yeeeeeears**. )
Finally asking #GoogleGemini has shown the pattern that should have been in the ROS tutorials all along.
(I have a feeling the "if rclpy.ok():" is actually all that is needed. Have not tested sufficiently yet.)
https://github.com/turtlebot/turtlebot4/discussions/517#discussioncomment-16121153
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
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.
Couldn’t resist trying MoonDream vision language assistant on Dave and Wali. Now WaLI sports an 8GB Pi5 and Dave only has a 4GB Pi4, but why not. Here is the pic: So first we ask Dave “What do you see?” (using the MoonDream 0.5b model 693Mb) (moondream_006_venv) ubuntu@kilteddave:~/KiltedDave/systests/moondream/examples_with_API_006$ ./see_wali_and_dave.py Using moondream-0.5b model with moondream 0.0.6 Python API Model Load Time: 19.13 seconds Image Load and Encode Time: 36.69 seconds Qu...
My #RaspberryPi5 #TurtleBot4lite robot WaLI (Wallfollower Looking for Intelligence) could really use an “off the shelf” mind!
First test of my new #ROS2 #Galactic #TurtleBot4lite power system.
This was the first discharge-to -20%-recharge-cycle in "as delivered" config.
Summary:
- max operating time, (to <20% charge), off the dock is about 1.75 hours
(No motion, just pubs Create3 topics, LiDAR scan, Oak-D-Lite color image, stereo 3D cloud, Localization and Mapper)
Recharge: ~2 hours
Battery "full": percentage = 1.0
If stays on dock after full:
- bot drains ~9 min to 95%,
- then recharges ~11 min to 100%
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.
Am I the only person that did not know SSIDs are case sensitive?
Had one chance to setup my new #Turtlebot4lite Raspberry Pi4's WiFi without using wired Ethernet, and I blew it.
Luckily, had a laptop I could setup with a static IP, and luckily the drawer with the RPi4 can be opened enough to plug in an Ethernet cable.
Step 1: Connect TB4lite RPi4 to 5GHz WiFi done.
Now to Connect the TB4lite's Create3 base to my 2.4GHz WiFi.
>"What's on your mind?"
My #TurtleBot4lite arrives today! I participated in the #iRobot #Create3 beta (via #simulation,
they didn't gift me with hardware), so I am familiar with the #robot's lower level #topics, #services, and #actions.
My #ROS2 #Galactic #Ignition #Gazebo crashes loading the default #TB4 world.
And TB4 comes up half embedded in an obstacle in the maze world, but managed #dock, #undock, #wallfollow and to drive the TB4lite around with a #teleop_twist_keyboard node.
cyclical_obsessive