Jazzy TB4 Setup Process for Raspberry Pi 5 on Ubuntu 24.04

[slowrunner]

Setup Blog for TB5-WaLI (TurtleBot5 Wallfollower Looking for Intelligence)

This Incarnation: TB5-WaLI Jan 2025 - Create3 plus Raspberry Pi 5, RPLidar C1, Oak-D-Lite

Second Incarnation: Create3-WaLI Dec 2023 - Mar 2024 (Returned Crashed running RTABmap)

First Incarnation: TurtleBot4 Nov 2022 (Returned Immediately - Damage in Shipment)

Beta Incarnation: Create3 Simulation Beta Oct 2021 - (Built Raspberry Pi 4 ROS 2 Galactic to test Create3 Simulation Beta)

[slowrunner]

Full Success getting

• turtlebot4-setup installed to my Raspberry Pi 5,
• WiFi configured,
• TB4 nodes running at boot,
• my F710 wireless gamepad is recognized
• my TB5-WaLI nodes run
  • odometer: logs travel
  • say_node: Text-to-Speech server for espeak-ng TTS engine
  • wali_node:
    • manage battery: Undock at 99%. Rotate to face dock at 18%, Dock at 15%
• Speaker and Microphone working
• Oak-D-Lite Camera works
• RPLidar C1 works, integrated to turtlebot4_bringup (kludge but it works till update needed)
• Turtlebot4_Desktop installed - View Diagnostics says Camera, Lidar OK
  • Add camera shows RGB image from Oak-D-Lite
  • /scan show LIDAR return with frame: base_link
• WaLI character has LIDAR and Oak-D-Lite mounted and cables ready
• Power consumption ok without aux power with ROS, LIDAR, Camera, and Speaker in use

My install Turtlebot4 Jazzy on Raspberry Pi 5 is here

Bot arrives Thursday, so more testing has to wait. (And creating modified URDF and SDF.)

[slowrunner]

Slamtec RPLidar C1 arrived today - managed to integrate the sllidar_ros2/sllidar_node to the turtlebot4 bringup!
Supposedly it draws twice as much power as the stock A1 LIDAR of the TurtleBot 4, but I like the looks and size better.

So far with Oak-D-Lite camera running and the C1 LIDAR operating, and the RPi5 running the turtlebot4 bringup items, the current draw is 1.5A - well below the 3A the Create3 can provide..

[slowrunner]

WaLI's "ride" arrived today, but the battery was totally shot - not just shutdown ... cannot wake.

[slowrunner]

Boring Stuff: My "TurtleBot4 History"

This Incarnation: TB5-WaLI Jan 2025 - Create3 plus Raspberry Pi 5, RPLidar C1, Oak-D-Lite

• Philosophy: Be an “alive” 24/7 TurtleBot4 with a Raspberry Pi 5 SBC

• (May swap in Oak-D-W-97 wide-angle, same resolution RGB and Depth cameras eventually)

Consolation Period: Implemented TurtleBot3 Cartographer, Navigation and Gazebo Classic simulation for 24/7 "alive" GoPi5Go-Dave (GoPiGo3) Raspberry Pi 5 robot (in Docker)

Second Incarnation: Create3-WaLI Dec 2023 - Mar 2024 (Returned Crashed running RTABmap)

• Built Raspberry Pi 4 with Ubuntu 22.04 / ROS 2 Humble
  • Created ir2scan node which uses IR obstacle sensors to publish /scan topic
  • Able to create map of house with slam_toolbox using the ir2scan /scan topics
  • Built "safe" Wanderer to prevent Create3 getting stuck under kitchen cabinets
  • Needed auxiliary 5v supply with Pi4 for Oak-D-Lite
  • Created "say_node" to serve PiperTTS for /say topic
  • Create3 dead-reckoning characterized - really amazing
  • Integrated Virtual Wall to "Safe Wander"
  • RTABmap crashed Create3
• Built Raspberry Pi 5 with ROS 2 Humble in Docker
  • Worked with iRobot to find workaround to RTABmap crashes
    • Application configurations
    • Discovery Server partitioning
    • Basic Republisher
  • Tested Pi5 "Naps" - cooler fan runs at full speed while napping!
• Prior Life as Create3-WaLi from 12/2023 to 3/12/2024
  • Total Awake: 1962.57 hrs
  • Total Naps: 248.85 hrs
  • Total Life: 2211.42 hrs
  • Playtimes (Undocked-Docked): 361
  • Average playtime (last five) 2.4 hrs
  • Average docked time (last five) 5.3 hrs

• Ended up returning - no solution to RTABmap crashes
  • Lamented returning it greatly.
  • Noticed iRobot Education released Jazzy Simulation Oct 2024
  • Oct 2024: Alberto Soragno mentions TurtleBot4 Republisher Official in Jazzy

First Incarnation: TurtleBot4 Nov 2022 (Returned Immediately - Damage in Shipment)

• TurtleBot4 first ships: July 2022
• TurtleBot4 Announced: May 2022

Consolation Period: Created ROS 2 Humble GoPiGo3 Raspberry Pi 4 image and "Humble-Dave"

Beta Incarnation: Create3 Simulation Beta Oct 2021

• Built Raspberry Pi 4 with ROS 2 Galactic to test Create3 Simulation Beta
  • Created Odometer node to log all travels
  • Tested:
    • WallFollowing
    • Coverage Server
    • Dock/Undock Action Server
    • All published and subscribed topics
• Applied for "Hardware Beta" Program, not selected

[slowrunner]

What is inside the iRobot Create3 battery?

DANGER - DO NOT ATTEMPT THIS - FOR CURIOSITY ONLY

The iRobot Create3 battery is a true engineering marvel. Really! The amount of design thinking that went into the battery really surprised me when I managed to open the "dead" battery without destroying it.

[slowrunner]

TB5-WaLI Is "Alive"!

Well the "5-WaLI" part is alive, the turtlebot4.service did not start everything successfully. I stopped the "TB" (mainly to turn republisher off), returned the Create3 to an empty namespace, and started my WaLI nodes (wali_node, say_server, odometer). Problem appears to be USB surge power required is greater than Pi 5 will supply, designing aux powered USB hub.

WaLI will get off the dock when the battery is 99% charged (if not during "sleeptime" 10pm to 8am),
at 18% battery he returns to "docking ready" position facing the dock,
and requests the docking maneuver when the battery falls below 15%.

TB5-WaLI is drawing 9.8W total, 4.3W for the Create3, and 5.5W for the RPi5, and speaker. (LIDAR and Oak-D-Lite powered but not operating).

His very first "playtime" lasted 2.6 hours:

2025-01-16 15:40|wali_node.py| ** WaLI Undocking: success at battery 100% **
2025-01-16 18:16|wali_node.py| ** WaLI dock goal result - Docking: success at battery 14% after 2.6 hrs playtime **

His first "after playtime" recharge took 2.7 hours and ATM is off the dock for his second "playtime":

2025-01-16 20:57|wali_node.py| ** WaLI Undocking: success at battery 100%, docked for 2.7 hrs **

*** TB5-WaLI TOTAL LIFE STATISTICS ***
Total Awake:   66.7  hrs
Total Naps:     0  hrs
Total Life:    66.7  hrs (since Jan 09, 2025)
Playtimes (Undocked-Docked): 1
Sessions (boot):  13
Average Session:  5.1 hrs
Safety Shutdowns:  0
Total Travel:  300.9 meters 987.2 feet

Last Dock and UnDock:
2025-01-16 15:40|wali_node.py| ** WaLI Undocking: success at battery 100% **
2025-01-16 18:16|wali_node.py| ** WaLI dock goal result - Docking: success at battery 14% after 2.6 hrs playtime **
2025-01-16 20:57|wali_node.py| ** WaLI Undocking: success at battery 100%, docked for 2.7 hrs **
Battery: 0.56