mikeferguson / firebot Goto Github PK

Some sort of race condition - not yet debugged

Design mechanical base, based on the tablebot:

• Reuse from tablebot: motors, wheels, laser, cliff sensors (and mount).
• Keep laser on tilt, but stand up servo to get a bit more height.
• Add intel based computer
• Add second battery (for intel based computer - 8W draw, battery is about 30Wh)
• Add thermal camera (USB) next to laser, but low enough to not block the laser
• Add fan next to laser (other side from thermal, low enough to not block the laser).
• Add start button (required by rules)

Detailed TODO while in-progress:

• Add 4-40 corner connectors between caster mount piece and top deck
• Update caster mount holes to accept heat insert (so we can just screw in from the outside)
• Figure out etherbotix standoffs (use heat inserts? Make sure the dimensions are correct - they weren’t on the old print - holes didn’t line up)
• Add heat insert holes to bottom of battery tray for cable tie downs
• Source 1-1/2” standoffs
• Source 4-40 flat head screws

Parts to make:

• 3d Print New Base
• 3d Print New Caster Mount
• 3d Print New Top Deck
• 3d Print New Laser Mount
• 3d Print New Laser Mount Top
• Reuse cliff sensor mounts
• Fabricate thin lexan shield for rear electronics

Required:

• Update etherbotix firmware to add support for laser streaming
• Update etherbotix drivers to add support for laser streaming
• Setup launch files with etherbotix drivers and config from tablebot for IO
• Setup building a map in ROS2
• Add poses at entry of each room that is a good spot for the "search" of the room
• Make localization robust
• Use nav2 to go to each room
• When at the room, rotate in place and view the thermal camera - look for hot spot
• If we see hot spot, approach it, and extinguish fire (once floor sensor trigger to know we are close enough)
• If we don't see hot spot, use nav2 to go to next pose

Stretch:

• Return home after fire extinguished
• Implement tablebot modes by pressing start while the robot is tipped to a particular side

Issues:

• Paths are unsmooth, causing controller to be slow
• The exit condition for the approach is kinda lame - consider using floor sensors or laser