Love your content. You assemble and code most actuators/setups from scratch each time. I'd love to see you come up with an inexpensive self contained multipurpose actuator to reduce your wires and simplify programming. E.g. mini-cheetah actuator with encoder, controller, gear reduction, etc. I think you could make that fun and spend more time on robot designs (and less on power and controls, especially if you get custom boards printed).
Hello James. First, thank you for your channel. I have enjoyed it for years. I have a couple of observations that might help if you're interested: 1) Your robot's odometry calibration actually looks quite good. The point cloud is expected to blur a bit due to wheel slippage and inconsistent contact during a turn, especially on carpet. The SLAM module should match the laser scans and compensate for the small errors. 2) During your navigation experiment starting at 29:00, I don't think a single one of the problems was due to the robot being lost. You can see that the map itself remained consistent and the robot's position was approximately correct. If it ever gets lost, you will see the map get very blurry indeed and the robot appear to be in the wrong position within rViz. I didn't see this. 3) Your problems all seem to be from your trajectory planner and the trajectory follower. The global plan is shown in green (which is generally ok), while the local plan to try and follow it is in red. It seems that your local planner has a minimum turn radius that is preventing the robot from rotating in place (as if it is driving a car with a steering wheel). It is having a hard time turning around when you give it a goal that has an opposite heading from what it currently is. And it is having a hard time getting back onto the green line (where it really wants to be) because the turns are so wide. 4) The failure you saw at 32:40 was likely due to the fact that you gave it a goal that was inside of an obstacle in the map. It mapped your feet while you walked across the room and hadn't removed them yet. Planners usually fail when you do this. (The obstacle map is represented by those squares and is called an "evidence grid," which is updated constantly based on new data. It failed to clear your feet because it couldn't see past the box to observe that that area was now clear.) I love your robots and this will really open up a lot of new opportunities. Cheers.
Wow, he just ignored your advise and your entire comment with it. That isn't very nice of him! I'd use stronger language, but that wouldn't be very nice of me 😁 I agree with your observations, additionally I think the problem is caused by those artificial limits he added in his Arduino code. Those limit movements to 0.5m/s and the turning speed to some other number I can't remember. I think it is that last one that tripped up the navigation.
OMG as an Embedded SW myself I had no problem following your videos until now, but this one is really complicated as a system. Maybe you should make another video where you provide an overview how all these scripts work together, maybe on a white board or something as this is crazy complicated. Amazing work BTW, the end mapping and navigation was amazing! I am convinced you will create something amazing now that you know how this is working.
this looks like it took lots of hair pulling to get it this far, props to you for following through while showing us all the problems you had to overcome
No, I was shouting at the screen "Publish a simple topic with just the information you need then transform that to an Odometry topic on the Pi", which is exactly what Nox does. Sadly the Nox code isn't very well factored (it bundles in a bunch-o-crap that is not necessary for your application), but you could fork it and refactor it to transform your preferred data. There might be other benefits to upgrading to a Teensy, but throwing hardware at the problem - rather than optimizing your software architecture - is rarely the right solution.
Lol. It's not that bad after you spend about a month learning ROS... A good course is on udemy... Lectures by Prof Anis Kouba, I think. Ros is important if you want to build intelligence into your robot. Otherwise you just building a very expensive radio control toy car.
I know ROS it's quite hard to learn at the moment. And there are rarely any step-by-step tutorials online. The best you can do is to learn in Robot Ignite Academy and the construct youtube channel. But with your video here, you can easily understand the basics of ROS before doing anything complex. I definitely going to follow-up on your progress here, because I have a similar project to yours. Keep up with your work, man. :D
There are a number of good books out there for ROS, a simple introduction and a more Pro programming one. Now its down to weather your using Python or C++. Personally C++ is the way to go for the end platform.
I wish I knew what was going on in these ROS series videos ahhaa I have a feeling James will be incorporating ROS into all his projects so looks like I'm signing up for ROS lessons!
really loving these videos. I love that you are showing the problems and issues that you are working through... this is what development and integration looks like in real life! I'm enjoying these. thanks!
you know, maybe copy pasting arduino code isn't such a great feat. Don't get me wrong, the videos are entertaining, but it's not like the guy invented anything new.
when you have a more ssh terminals to the same host, install byobu. Its a virtual multi tasking terminal. you only have to connect once. When you “catkin_make” bigger projects, increas the swap file a bit (maybe 2gb). Therefor you can install with -j8 (its a bit faster) it hurts to see a vector message, misusing the z for time 🙈. If you have problems with rviz on different pc, update the hostename file.
I know you probably don't get as many views on these more technical & in-depth videos, but keep making them please. They're super informative. ...I do kinda miss the thumbnails of you stood there with your gob open though. I kinda saw them as your trademark.
Awesome work!! Rarely someone explains ROS in such a simple and step by step manner. I loved your video. P.S. Kindly upload your arduino code at your github Thanks!
Giving the hosts meaningful names might be useful to your viewers. Like giving the pi on the robot a name like "Robot-Pi" would help viewers understand the context of each terminal. Modify the file /etc/hostname and reboot (yes you can do it without rebooting but its often better to reboot to verify it prescient).
Nice job James. His explanation about ROS was good. Make a third video showing how to place a CAD representation of the robot in ROS. It's idea for next theme!
@@jamesbruton I am so close! I am having an error when I run the nox slam program, where it says that it dosnt like the /map. I did edit the local file you said to chainge, but that didnt fix it. Any ideas?
I suspect the YAML config files will help with the room navigation; the caution and difficulty turning at the end of the path back from the stairwell being the result of the robot dimensions and inflation set too high. The covariance code should help with inaccuracies from floor slip and range - finder but there is surely an equivalent in ROS (Kalman Filter fusion?).
Amazing again, thank you. I also tried to build my first ROS robot (I gave up a few weeks before you started this series), and I stumbled upon very similar problems (basically I couldn't make my robot as accurate as Turtlebot3). I'm looking forward to see if you can make your robot navigation usable and how.
I'd like to build such a robot that could be given the pdf of a construction plans to compliment its ability to roll around a home, mapping it including identifying windows, doors, etc that could paint a home for example with complete automation. A flying drone to paint home exteriors above the 1st floor would be another great complimenting project.
❤️❤️Thank you so much for making your epic content you have inspired me into making videos and When someone writes a hate comment I watch your channel to make me happy 😃
Hi James I am learning a to code at the moment but you definitely help me . although I prefer it when you don't show the coding and show all the moter's and other bits this video has made me want to whatch the coding alot more and how you tell it what to do
Hi James I am learning how to code at the moment but you definitely help me . although I prefer it when you don't show the coding and show all the moter's and other bits this video has made me want to whatch the coding alot more and how you tell it what to do
Warning: using this as an example when learning how to code is basically the blind leading the blind. His software skills are not in the same level of competence as his hardware, CAD, and printing.
Yes he really startled me: I am not a native speaker and I've been using this word in front of others for years. But I think I never heard it being spoken by a native speaker so I was briefly overwhelmed by retrospective cringe. Thanks god , Google Translate assured me, that the hard K-sound in the middle is - at least - not wrong.
Amazing! Awesome educational content! [Watching from New Zealand... sadly we are back in COVID Alert Level 3, but there is plenty of time for projects :) ]
As I understand you start off with a position based on wheel odometry. You then calculate a derivative to get wheel velocity. Then integration occurs so you can get position. It seems like you could avoid those two steps and estimate your position just on the odometry data. Numerical derivatives are noisy. Good video
When it comes time for the next iteration of robot controller, you should give OpenHD on GitHub a look. Using it for my robotic lawn mower build and it is amazing. HD video, telemetry, and RC all over a single high-speed link similar to DJI LIghtBridge but fully open source and built with Raspberry Pis and off-the-shelf usb wifi adapters.
Just because the Arduino RAM is not enough for the message does not mean the arduino cant read it. You just need to use a streaming message parser which interprets the message incrementally rather than by loading all at once.
I think encoders take a lot of monitoring and produce very large high resolution numbers very quickly. Might need a separate microcontroller for each encoder reporting to a supervising microcontroller
Thank you so much for the great video!! I want to ask you, where can I find the arduino code that you used in this project. can you please let me know where i can find it. did you use the nox code?
hi there! I was thinking of an old robovac that I have( mainboard is bosted), to bring back alive with an Arduino. is it possible to do with just two Arduino Uno and a motor shield? (with navigation and mapping tech) perhaps you can make a video of bringing one to live to.
Is the Arduino ram limitation true for the Mega with 8kb of ram? My Adruino motor code is sitting at about 2k ram usage with everything set up except odom leaving me with about 6k ram left. Is the issue more complicated than I am expecting? I see James is using a mega as well and he's pretty on top of things so I'm guessing I'm missing something.
People in the comments have also picked up on his pronunciation of "quaternion" and "Ubuntu mate" (ooboontoo mah-tay, ubuntu-mate.org/blog/how-to-pronounce-mate/) so I suspect it's a case of only seeing words written down and taking a guess
Hi james. Can i ask you something about this project. Do you run all the Gmapping node and Navigation stack all on Raspberry Pi onboard or some of them in remote computer with SSH ? i also built the same system like you now, but can't figure out why the map update keep missing it's desired rate. I suspect some computation issue, but seeing your video with the same setting as me, it looks all good.
Hi James I've been out for a while but I'm back at my robot project what kind of roatery encoders are those ? I have also installed Ros melodic and ydlidar move it and am going to install roserial for Arduino but I'm not much of a code guy yet .cool video!
Thanks, you will save a couple of my evenings. There are lot of underwater stones. Personal powerbank looks bad for lightweight drones. But it's very scare to me to powering Pi4 through 6S battery via china dc-dc stepdown module... Did you try other safe ways to connect Pi4 to the robot power battery?
i cant find the arduino sketch in your git hub .Actually i cant even find this project .. could you please share a link with this project or share the name of the project it published with ?
Hi @James Burton, thank you for a good video. i have a question. if in the nox_controller.cpp is publishing the tf and the odom. why also launch the robot_state_publisher and joint_state_publisher? i am kind of new in ROS and all that, but as of my knowledge, the robot_state_publisher publishes the TF and the joint_state_publisher publishes the joint_states. TIA
You are amazing ❤️❤️ I am almost at the end of completion of the project but I got a problem. My lidar laser map is not stationary . What might be the problem? And possible solutions Thank you ❤️
Hi James, thanks for the videos. Is there any reason why you are not using ROS2? I am just staring with ROS and it seems that ROS2 is the way to go, but as you say it's a complicated subject and it seems that there is more info available for ROS(1). Just not sure if I should continue with the pain of learning ROS2 or start using ROS(1)
In the arduino code Nox Robot. What is LOOPTIME?. If I use the given speed_msg.vector.z, the robot in actual and rviz moves differently. I'm not able to match the speed feedback of the rviz and actual robot. Please help me go through this issue.
Your carpet is likely causing the wheels to slip, which is responsible for the laser mapping drift. Just a guess, and it seems very likely based on my own robotics experience.
The Z value not appearing as 0.01 is because it's a floating-point type (IEEE double). 0.00999999977648258209228515625 is exactly what I would expect; you rounded it it off in the display to 14 places, e.g. {:.14f}. See www.h-schmidt.net/FloatConverter/IEEE754.html for enlightenment.
Hi James, love the channel You can install arduino-mk if you want to compile and upload the arduino mega code frm the command line on the pi. Could be useful if you want to change the code on the arduino over ssh mjoldfield.com/atelier/2009/02/arduino-cli.html
Cool, it's a bit like an RNA encoder in a way. A little machine that runs around interpreting. Here's an idea about DNA you might enjoy? I believe the 4 animal categories described in the Bible twice... Summarised as this: As we go down this list, each step represents larger level of plant pressure being applied. 🦅 ⬆️ The least planted one being "eagles", an angelic form that behaves mostly angelic. *Righteous free will*. 🧘⬇️ "Man" being an angelic form that mostly behaves as a threat to plants. *Stolen free will*. 🦁 ⬆️ "Lion" representing a creature that behaves as an angel, but is being planted by something. *Unearned limitation*. (Also can be called "wolf or bear" depending on plant factors) 🐂/🦗 ⬇️ "Ox /Cherub (scarab)" being a planted animal that is behaving as a threat to plants. *Earned limitation*. (Also can be called "dog or horse" depending on plant factors. IE: dogs mistakenly believe people are more important than plants) . Well, I believe these are the 4 fundamental categories that make up DNA. Desert culture melanin put xx females into the "always defined as an Eagle or Lion" group, no matter what they do. And it's our responsibility to teach their DNA that xx women are NOT angelic in their behavior. "The Lion, The Witch and The Wardrobe" is a note from the past that *something* figured out selfish women are freezing the planet wrong. . In case you don't about DNA, here is some info: "DNA, or deoxyribonucleic acid, is the hereditary material in humans and almost all other organisms. Nearly every cell in a person’s body has the same DNA. Most DNA is located in the cell nucleus (where it is called nuclear DNA), but a small amount of DNA can also be found in the mitochondria (where it is called mitochondrial DNA or mtDNA). Mitochondria are structures within cells that convert the energy from food into a form that cells can use." "The information in DNA is stored as a code made up of four chemical bases: adenine (A), guanine (G), cytosine (C), and thymine (T). Human DNA consists of about 3 billion bases, and more than 99 percent of those bases are the same in all people. The order, or sequence, of these bases determines the information available for building and maintaining an organism, similar to the way in which letters of the alphabet appear in a certain order to form words and sentences." "DNA bases pair up with each other, A with T and C with G, to form units called base pairs. Each base is also attached to a sugar molecule and a phosphate molecule. Together, a base, sugar, and phosphate are called a nucleotide. Nucleotides are arranged in two long strands that form a spiral called a double helix. The structure of the double helix is somewhat like a ladder, with the base pairs forming the ladder’s rungs and the sugar and phosphate molecules forming the vertical sidepieces of the ladder" . I think that the letters are Light's commentary on various topics being mentioned by the planet. G is saying 👍 "remember this information for later". 🦅 C is saying 🤼"make this behavior self observe".🧘 (This is stolen plant service, expose this to terraforming) T is saying ⚠️ "oppose this behavior if extreme". 🦁 A is saying 🚫 "mark this behavior rightly limited". 🐂/🦗 And instead of REACTING in accord with these comments by light, the planet has been intentionally opposing it. Men are getting confused with eagles, and oxen are getting confused with Lion... by literal silica/sand of the desert culture. Which can be summed up perfectly here: ruclips.net/video/mXnJqYwebF8/видео.html . So, u.v. has been CLAIMING I'm a man or a cow. Something that is either "rightly limited" or "exposed to terraforming and self observation". I believe I am performing as close to Eagle or Lion as reasonable, according to the law of this nation. If we want to heal sexism, it's time to force xx females to choose which of those 4 animals they are. By allowing women to DENY that they are ANY of those 4 categories, they are not only being The Adversary, they are being rewarded for selfishness and pure contrarianism. I believe that when the soil stops opposing the Light, the 🐂/🦗 category will be fully returned back into PLANTS.
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Can you make things that is easier and can made by children
Plzzzzz
You should use the linear velocity and angular velocity
Love your content. You assemble and code most actuators/setups from scratch each time. I'd love to see you come up with an inexpensive self contained multipurpose actuator to reduce your wires and simplify programming. E.g. mini-cheetah actuator with encoder, controller, gear reduction, etc.
I think you could make that fun and spend more time on robot designs (and less on power and controls, especially if you get custom boards printed).
Why do company’s bother to sponser people, 90% of people just skip them
Hello James. First, thank you for your channel. I have enjoyed it for years.
I have a couple of observations that might help if you're interested:
1) Your robot's odometry calibration actually looks quite good. The point cloud is expected to blur a bit due to wheel slippage and inconsistent contact during a turn, especially on carpet. The SLAM module should match the laser scans and compensate for the small errors.
2) During your navigation experiment starting at 29:00, I don't think a single one of the problems was due to the robot being lost. You can see that the map itself remained consistent and the robot's position was approximately correct. If it ever gets lost, you will see the map get very blurry indeed and the robot appear to be in the wrong position within rViz. I didn't see this.
3) Your problems all seem to be from your trajectory planner and the trajectory follower. The global plan is shown in green (which is generally ok), while the local plan to try and follow it is in red. It seems that your local planner has a minimum turn radius that is preventing the robot from rotating in place (as if it is driving a car with a steering wheel). It is having a hard time turning around when you give it a goal that has an opposite heading from what it currently is. And it is having a hard time getting back onto the green line (where it really wants to be) because the turns are so wide.
4) The failure you saw at 32:40 was likely due to the fact that you gave it a goal that was inside of an obstacle in the map. It mapped your feet while you walked across the room and hadn't removed them yet. Planners usually fail when you do this. (The obstacle map is represented by those squares and is called an "evidence grid," which is updated constantly based on new data. It failed to clear your feet because it couldn't see past the box to observe that that area was now clear.)
I love your robots and this will really open up a lot of new opportunities.
Cheers.
Wow, he just ignored your advise and your entire comment with it. That isn't very nice of him! I'd use stronger language, but that wouldn't be very nice of me 😁
I agree with your observations, additionally I think the problem is caused by those artificial limits he added in his Arduino code. Those limit movements to 0.5m/s and the turning speed to some other number I can't remember. I think it is that last one that tripped up the navigation.
It seems he is using a bicycle model when he should be using a differential-drive model for the local planning
@@TheBauwssss He ignored it because he didnt add more knowledge. Teach the teacher when you have more stuff.
I really admire your projects, greetings from Ecuador
OMG as an Embedded SW myself I had no problem following your videos until now, but this one is really complicated as a system. Maybe you should make another video where you provide an overview how all these scripts work together, maybe on a white board or something as this is crazy complicated. Amazing work BTW, the end mapping and navigation was amazing! I am convinced you will create something amazing now that you know how this is working.
this looks like it took lots of hair pulling to get it this far, props to you for following through while showing us all the problems you had to overcome
pro-tip: if you have multiple terminals running on different hosts, change the tinted background colour for one terminal.
@@andreasbresser8454 he meant it that the colour makes it easier to distinguish for viewers.
This is my advance line following robot. ruclips.net/video/41Zf4U7EuzA/видео.html
@@MsHumanOfTheDecade or the simpler solution is to rename the host properly!
No, I was shouting at the screen "Publish a simple topic with just the information you need then transform that to an Odometry topic on the Pi", which is exactly what Nox does. Sadly the Nox code isn't very well factored (it bundles in a bunch-o-crap that is not necessary for your application), but you could fork it and refactor it to transform your preferred data. There might be other benefits to upgrading to a Teensy, but throwing hardware at the problem - rather than optimizing your software architecture - is rarely the right solution.
can you give me more details to what you mean. can you guide me where to do this ?
This is going right over my head.
Lol. It's not that bad after you spend about a month learning ROS... A good course is on udemy... Lectures by Prof Anis Kouba, I think. Ros is important if you want to build intelligence into your robot. Otherwise you just building a very expensive radio control toy car.
I know ROS it's quite hard to learn at the moment. And there are rarely any step-by-step tutorials online. The best you can do is to learn in Robot Ignite Academy and the construct youtube channel. But with your video here, you can easily understand the basics of ROS before doing anything complex. I definitely going to follow-up on your progress here, because I have a similar project to yours.
Keep up with your work, man. :D
There are a number of good books out there for ROS, a simple introduction and a more Pro programming one. Now its down to weather your using Python or C++. Personally C++ is the way to go for the end platform.
I wish I knew what was going on in these ROS series videos ahhaa
I have a feeling James will be incorporating ROS into all his projects so looks like I'm signing up for ROS lessons!
really loving these videos. I love that you are showing the problems and issues that you are working through... this is what development and integration looks like in real life! I'm enjoying these. thanks!
Can someone explain to me why this guy doesn't have like 10 million subs..
Because most of the people are dumb and would rather watch some idiots tik toking
you know, maybe copy pasting arduino code isn't such a great feat. Don't get me wrong, the videos are entertaining, but it's not like the guy invented anything new.
when you have a more ssh terminals to the same host, install byobu. Its a virtual multi tasking terminal. you only have to connect once. When you “catkin_make” bigger projects, increas the swap file a bit (maybe 2gb). Therefor you can install with -j8 (its a bit faster) it hurts to see a vector message, misusing the z for time 🙈. If you have problems with rviz on different pc, update the hostename file.
This is so epic! thanks for such an amazing work. ROS rocks!
I know you probably don't get as many views on these more technical & in-depth videos, but keep making them please. They're super informative.
...I do kinda miss the thumbnails of you stood there with your gob open though. I kinda saw them as your trademark.
I cant wait to see how you use this in the future, especially if you add it to opendog!
Thank you so much for doing this so we can judge the usefulness of this stuff without having to invest a bunch of our own time.
Awesome work!! Rarely someone explains ROS in such a simple and step by step manner. I loved your video.
P.S. Kindly upload your arduino code at your github
Thanks!
The Nox robot project is already on Git. I'll be working on a new version of my robot though from the ground up which will be published in full.
Giving the hosts meaningful names might be useful to your viewers. Like giving the pi on the robot a name like "Robot-Pi" would help viewers understand the context of each terminal. Modify the file /etc/hostname and reboot (yes you can do it without rebooting but its often better to reboot to verify it prescient).
good tip, thanks!
ROSberry pi perhaps?
Please do more robots with ros....u are doing a great work...
thanks, I plan to
DUDE this is inspiring!. So glad you decided to get in to ROS
Extremely helpful and was able to make a similar one on my own.Thank you so much James Bruton
I, for one, welcome our new robotic overlords. They seem just as confused as us humans.
Nice job James. His explanation about ROS was good. Make a third video showing how to place a CAD representation of the robot in ROS. It's idea for next theme!
That will happen with my V2 robot which will be rebuilt from the ground up. I stripped the URDF file for this one to bare minimum.
Thanks so much for making this video! It has helped me so much, and I am now super close to making my robot use SLAM for the first time!
This is the latest version: ruclips.net/video/dEPvZZ4luV4/видео.html
@@jamesbruton When is the video about the navigation stack coming out? I am super excited to see that!
@@jamesbruton I am so close! I am having an error when I run the nox slam program, where it says that it dosnt like the /map. I did edit the local file you said to chainge, but that didnt fix it. Any ideas?
I suspect the YAML config files will help with the room navigation; the caution and difficulty turning at the end of the path back from the stairwell being the result of the robot dimensions and inflation set too high. The covariance code should help with inaccuracies from floor slip and range - finder but there is surely an equivalent in ROS (Kalman Filter fusion?).
robot_localization package is pretty good from my experience! takes a lot of tuning though.
Amazing again, thank you.
I also tried to build my first ROS robot (I gave up a few weeks before you started this series), and I stumbled upon very similar problems (basically I couldn't make my robot as accurate as Turtlebot3). I'm looking forward to see if you can make your robot navigation usable and how.
I'd like to build such a robot that could be given the pdf of a construction plans to compliment its ability to roll around a home, mapping it including identifying windows, doors, etc that could paint a home for example with complete automation. A flying drone to paint home exteriors above the 1st floor would be another great complimenting project.
❤️❤️Thank you so much for making your epic content you have inspired me into making videos and When someone writes a hate comment I watch your channel to make me happy 😃
The first few times you (mis-)pronounced quaternion I didn't understood what you where talking about, until I also saw it written down.
... and 'deprecated', not 'depreciated'...
... and 'covariance', not 'cǝvarance'...
* quarternion
* deprecated
* MATE (the Window Manager)
* co-variance
Those are the ones I really noticed.
A compass can be quite useful. Needs to be on a mast to avoid all those motors. Floorboard nails are a hidden magnetic memace
Hi James I am learning a to code at the moment but you definitely help me . although I prefer it when you don't show the coding and show all the moter's and other bits this video has made me want to whatch the coding alot more and how you tell it what to do
Hi James I am learning how to code at the moment but you definitely help me . although I prefer it when you don't show the coding and show all the moter's and other bits this video has made me want to whatch the coding alot more and how you tell it what to do
Warning: using this as an example when learning how to code is basically the blind leading the blind. His software skills are not in the same level of competence as his hardware, CAD, and printing.
Great creation...et très bon Français..bravo 😉👍🏻
@James, FYI. Deprecated is pronounced deh
·pruh·kei·tuhd
Yes he really startled me: I am not a native speaker and I've been using this word in front of others for years. But I think I never heard it being spoken by a native speaker so I was briefly overwhelmed by retrospective cringe. Thanks god , Google Translate assured me, that the hard K-sound in the middle is - at least - not wrong.
@@Schwuuuuup Yeah, I had the same reaction!
Love the long video format!
Amazing! Awesome educational content! [Watching from New Zealand... sadly we are back in COVID Alert Level 3, but there is plenty of time for projects :) ]
Yeah but at least we can still order stuff out of Auckland and trade me to keep those projects going lol
As I understand you start off with a position based on wheel odometry. You then calculate a derivative to get wheel velocity. Then integration occurs so you can get position. It seems like you could avoid those two steps and estimate your position just on the odometry data. Numerical derivatives are noisy. Good video
I need to learn to post at the end of the Video. :)
When it comes time for the next iteration of robot controller, you should give OpenHD on GitHub a look. Using it for my robotic lawn mower build and it is amazing. HD video, telemetry, and RC all over a single high-speed link similar to DJI LIghtBridge but fully open source and built with Raspberry Pis and off-the-shelf usb wifi adapters.
Excellent. Can you explain more details about using wheel encoders and which part of your code acquires and uses that data.
Just because the Arduino RAM is not enough for the message does not mean the arduino cant read it. You just need to use a streaming message parser which interprets the message incrementally rather than by loading all at once.
I think encoders take a lot of monitoring and produce very large high resolution numbers very quickly. Might need a separate microcontroller for each encoder reporting to a supervising microcontroller
agreed.
Very useful video James! Thanks!!
Love the sponsor advertisement. ☺
Might be worth aiming your Kinect thing at the ceiling. Ceiling vertices make vey simple shapes and are never in direct sunlight or shadow
Interpolating two motors has always puzzled me. What about one central drive wheel and an omniwheel for steering and two casters for balance
Thank you so much for the great video!! I want to ask you, where can I find the arduino code that you used in this project. can you please let me know where i can find it. did you use the nox code?
Great update 👍😀
Thanks for sharing 👍😀
hi there! I was thinking of an old robovac that I have( mainboard is bosted), to bring back alive with an Arduino.
is it possible to do with just two Arduino Uno and a motor shield? (with navigation and mapping tech)
perhaps you can make a video of bringing one to live to.
Is the Arduino ram limitation true for the Mega with 8kb of ram? My Adruino motor code is sitting at about 2k ram usage with everything set up except odom leaving me with about 6k ram left. Is the issue more complicated than I am expecting?
I see James is using a mega as well and he's pretty on top of things so I'm guessing I'm missing something.
Do you really say co-varence in British? I am pretty sure it is co-vari-ance??
People in the comments have also picked up on his pronunciation of "quaternion" and "Ubuntu mate" (ooboontoo mah-tay, ubuntu-mate.org/blog/how-to-pronounce-mate/) so I suspect it's a case of only seeing words written down and taking a guess
Also, the compiler warning says the the API call is deprecated, not depreciated.
Hi james. Can i ask you something about this project. Do you run all the Gmapping node and Navigation stack all on Raspberry Pi onboard or some of them in remote computer with SSH ? i also built the same system like you now, but can't figure out why the map update keep missing it's desired rate. I suspect some computation issue, but seeing your video with the same setting as me, it looks all good.
Hi James I've been out for a while but I'm back at my robot project what kind of roatery encoders are those ? I have also installed Ros melodic and ydlidar move it and am going to install roserial for Arduino but I'm not much of a code guy yet .cool video!
Thanks, you will save a couple of my evenings. There are lot of underwater stones.
Personal powerbank looks bad for lightweight drones. But it's very scare to me to powering Pi4 through 6S battery via china dc-dc stepdown module...
Did you try other safe ways to connect Pi4 to the robot power battery?
Thank for this video, but i can’t find pin PWM for motor left or right in nox’s arduino code???
Once you get SLAM running, like you have done, what is the next step towards autonomy? Like making the robot automatically drive to a location.
deep learning / vision, and depth camera(s)
i cant find the arduino sketch in your git hub .Actually i cant even find this project .. could you please share a link with this project or share the name of the project it published with ?
It's not there because it doesn't work properly. Take a look at the Really Useful Robot project.
Heard of the t265?
Hi @James Burton, thank you for a good video. i have a question.
if in the nox_controller.cpp is publishing the tf and the odom. why also launch the robot_state_publisher and joint_state_publisher?
i am kind of new in ROS and all that, but as of my knowledge, the robot_state_publisher publishes the TF and the joint_state_publisher publishes the joint_states.
TIA
You are amazing ❤️❤️
I am almost at the end of completion of the project but I got a problem. My lidar laser map is not stationary . What might be the problem? And possible solutions
Thank you ❤️
Hi, I am having the same problem, if you solved this problem, can you please share the solution with me?
@@huseyinklc5634 I partially know how to solve it but I haven't tried it.
@@srinivasasatya6797 Can you tell me how to solve?
hi, i have the same problem here. can you share the solution how to fix it ?
Can you use the laser data to calibrate the odometer and vice-versa, letting both calibrations gradually converge into agreement?
Hi James, thanks for the videos. Is there any reason why you are not using ROS2? I am just staring with ROS and it seems that ROS2 is the way to go, but as you say it's a complicated subject and it seems that there is more info available for ROS(1). Just not sure if I should continue with the pain of learning ROS2 or start using ROS(1)
In the arduino code Nox Robot. What is LOOPTIME?. If I use the given speed_msg.vector.z, the robot in actual and rviz moves differently. I'm not able to match the speed feedback of the rviz and actual robot. Please help me go through this issue.
Your carpet is likely causing the wheels to slip, which is responsible for the laser mapping drift. Just a guess, and it seems very likely based on my own robotics experience.
yes I talked more about that in part 1, the wheels are very skinny and don't grip well there are also encoder issues.
You're really amazing
Love you videos keep it up 👍
Is that a face hugger from alien in the background 🤔
Hello James how did u learn so much about robots and ros?
I think there is not many arduino examples as a typical microcontroller integration uses the ros_control design pattern
i need the Arduino code used in this video please
Hey just a question but have you ever thought about making a small 1lb to 3lb combat robot like the ones you see on tv like battlebots and robot wars
awesome!
I don't see the link to part 1 anywhere
Nevermind, I watching through this video when I noticed a pop-up recommending part 1
simple, quick mapping: hector slam. You dont even need a odometry
The navigation stack doesn't work without Odometry
very good
Ever considered giving your robots nicknames? Maybe you could call this one "Hunter".
I used to in the olden days, the V2 ROS robot will probably get a name
@@jamesbruton I think "ROSbert" is a great option for a nickname.
we need a rotating automatic balancing tunnel
Could you please upload the code?! Very useful bro
You say it has a Lidar on it... So how can you trust it to give you the correct info?
It's going in a circle: "Am I there yet?"................ Oof...
Can anybody help me with getting it's code
next video say ROS is short for robot operating system when you first reference it
Morning dude.
"Not very precise" but it knows it, and is a bit of a perfectionist... So it tries and tries again.
The Z value not appearing as 0.01 is because it's a floating-point type (IEEE double).
0.00999999977648258209228515625 is exactly what I would expect; you rounded it it off in the display to 14 places, e.g. {:.14f}.
See www.h-schmidt.net/FloatConverter/IEEE754.html for enlightenment.
Wheels slip. Trust lasers.
Ros-berry pi
deprecated vs depreciated @ 22:20 :
stackoverflow.com/questions/9208091/the-difference-between-deprecated-depreciated-and-obsolete/9208164
I need this code
Hello i can provide u this code
Odom is short for Odometry
Yes it is, but the Odom Arduino code does not publish the Odom message.
can you make assistant robot plz plz plz plz plz
quarter... neuns?
Is it OK if I call u nerd I realy like you projects
Looks like a 3D printer on wheels
Thank you for this video. Can I get your code: wheelEncoders05.ino?
did you find the code?
Sir please make Cosmo type mini humanoid robot I request u sir please please 😄😄😄😄😄😄😄
I have never be this early
Hi James, love the channel
You can install arduino-mk if you want to compile and upload the arduino mega code frm the command line on the pi. Could be useful if you want to change the code on the arduino over ssh
mjoldfield.com/atelier/2009/02/arduino-cli.html
I love your videos. But man does ROS look like something i want to stay away from.
Cooooooooooooooool
Cool, it's a bit like an RNA encoder in a way. A little machine that runs around interpreting.
Here's an idea about DNA you might enjoy?
I believe the 4 animal categories described in the Bible twice... Summarised as this:
As we go down this list, each step represents larger level of plant pressure being applied.
🦅 ⬆️ The least planted one being "eagles", an angelic form that behaves mostly angelic. *Righteous free will*.
🧘⬇️ "Man" being an angelic form that mostly behaves as a threat to plants. *Stolen free will*.
🦁 ⬆️ "Lion" representing a creature that behaves as an angel, but is being planted by something. *Unearned limitation*. (Also can be called "wolf or bear" depending on plant factors)
🐂/🦗 ⬇️ "Ox /Cherub (scarab)" being a planted animal that is behaving as a threat to plants. *Earned limitation*. (Also can be called "dog or horse" depending on plant factors. IE: dogs mistakenly believe people are more important than plants)
.
Well, I believe these are the 4 fundamental categories that make up DNA.
Desert culture melanin put xx females into the "always defined as an Eagle or Lion" group, no matter what they do.
And it's our responsibility to teach their DNA that xx women are NOT angelic in their behavior.
"The Lion, The Witch and The Wardrobe" is a note from the past that *something* figured out selfish women are freezing the planet wrong.
.
In case you don't about DNA, here is some info:
"DNA, or deoxyribonucleic acid, is the hereditary material in humans and almost all other organisms. Nearly every cell in a person’s body has the same DNA. Most DNA is located in the cell nucleus (where it is called nuclear DNA), but a small amount of DNA can also be found in the mitochondria (where it is called mitochondrial DNA or mtDNA). Mitochondria are structures within cells that convert the energy from food into a form that cells can use."
"The information in DNA is stored as a code made up of four chemical bases: adenine (A), guanine (G), cytosine (C), and thymine (T). Human DNA consists of about 3 billion bases, and more than 99 percent of those bases are the same in all people. The order, or sequence, of these bases determines the information available for building and maintaining an organism, similar to the way in which letters of the alphabet appear in a certain order to form words and sentences."
"DNA bases pair up with each other, A with T and C with G, to form units called base pairs. Each base is also attached to a sugar molecule and a phosphate molecule. Together, a base, sugar, and phosphate are called a nucleotide. Nucleotides are arranged in two long strands that form a spiral called a double helix. The structure of the double helix is somewhat like a ladder, with the base pairs forming the ladder’s rungs and the sugar and phosphate molecules forming the vertical sidepieces of the ladder"
.
I think that the letters are Light's commentary on various topics being mentioned by the planet.
G is saying 👍 "remember this information for later". 🦅
C is saying 🤼"make this behavior self observe".🧘 (This is stolen plant service, expose this to terraforming)
T is saying ⚠️ "oppose this behavior if extreme". 🦁
A is saying 🚫 "mark this behavior rightly limited". 🐂/🦗
And instead of REACTING in accord with these comments by light, the planet has been intentionally opposing it.
Men are getting confused with eagles, and oxen are getting confused with Lion... by literal silica/sand of the desert culture.
Which can be summed up perfectly here:
ruclips.net/video/mXnJqYwebF8/видео.html
.
So, u.v. has been CLAIMING I'm a man or a cow.
Something that is either "rightly limited" or "exposed to terraforming and self observation".
I believe I am performing as close to Eagle or Lion as reasonable, according to the law of this nation.
If we want to heal sexism, it's time to force xx females to choose which of those 4 animals they are.
By allowing women to DENY that they are ANY of those 4 categories, they are not only being The Adversary, they are being rewarded for selfishness and pure contrarianism.
I believe that when the soil stops opposing the Light, the 🐂/🦗 category will be fully returned back into PLANTS.