aditya-shriwastava / mobot Goto Github PK

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Turning Mobile Phone into Robot

License: MIT License

Kotlin 34.76% Python 65.24%

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chassis unique identification as usb device in the android app

Use override keyword for on_start() method on agent

Improvement of chassis metadata.

message ChassisMetadata{
  float wheel_diameter=1;
  float wheel_to_wheel_seperation=2;
  float max_wheel_speed=3;
  float min_wheel_speed=4;
}

Use all and init to improve imports for mobot.

Moving from "robot velocity control space" to "wheel velocity control space".

message CmdVel{
  float wr=1; // Right wheel velocity
  float wl=2; // Left wheel velocity
}

Sometime the android app goes into infinite disconnecting when chassis is connected to the mobile phone.

Expected Behavior: It should not go in disconnecting mode when it is already disconnected.

Get rid of matplotlib dependency

Remove dependency of mobot face on the avability of chassis.

camera metadata is redundant

Every thing in metadata can be derived from the image itself.

Set version of protobuf to install for mobot python package.

ROS interface for mobot

Teleop with virtual joystick.

PyQt based gui for teleop of chassis.

Move MyAgent to proper name in _tests.

Instead of using word tutorial use phrase 'Quick Start '

There should always be max hz for cmdvel to chassis. Update chassis_test and teleop_with camera test.

Not necessary for agent to call wait_until_available for actuators, It should be called automatically before on_start() is called.

Exception raised when user tried to use asset when it is not available.

Improved communication API between mobot app and chassis.

1. (Mobot App) ---|CMDVEL:wr,wl|--> (Chassis)
2. (Mobot App) ---|GET:"Metadata"|--> (Chassis)
3. (Chassis) --|METADATA:wheel_diameter,wheel_to_wheel_seperation,max_wheel_speed,min_wheel_speed|--> (Mobot App)

Visual odometry demo

chassis dosent responds well to cmdvel when msg hz increaces

Make mobot_spine a daemon if possible.

Auto generated api docs for mobot python package.

Mobot Chassis V2

Idea: Simple hardware where components can be sourced very easily

Components

Chassis (sheet metal laser cut and bent and components connected via nut and bolts)
Electronics (pi pico + L293D on pcb)
Mobile phone and pcb connected via otg cable from cable creation
Motor (100 rpm bo dc motor, connected to pcb via jst cable)
Standard ball caster and standard bo dc motor wheel
Standard mobile phone holder

Get rid of "image_grid" and "opencv-python dependency"

Seperate "core mobot" from "other utils"

core mobot: Turns mobile phone into mobile robot:
- Observe sensor stream
- Command actuator
other utils: Supporting stuff
- Visualization utils
- Some helpfull programs: Teloop
- Demos
- Non essential utils

Person following demo

Use pre trained torchvision model to detect person.

aditya-shriwastava / mobot Goto Github PK

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