Notifications
Clear all

CATHI

12 Posts
7 Users
5 Reactions
887 Views
(@jeffreyjene)
Member
Joined: 4 years ago
Posts: 56
Topic starter  

This is the beginning of my ROS enabled robot CATHI. She's a beauty, and this is only the beginning. I'm having a blast with it!

20220709 190926
20220709 190931
20220709 190952

 


   
DroneBot Workshop, Duce robot, Inq and 2 people reacted
Quote
Ron
 Ron
(@zander)
Father of a miniature Wookie
Joined: 4 years ago
Posts: 7397
 

ROS is Robot Operating System? What does it run on, any lineage?

Do you mind sharing how much $ you have invested so far. It looks impressive, but can I and others afford to do something similar?

First computer 1959. Retired from my own computer company 2004.
Hardware - Expert in 1401, and 360, fairly knowledge in PC plus numerous MPU's and MCU's
Major Languages - Machine language, 360 Macro Assembler, Intel Assembler, PL/I and PL1, Pascal, Basic, C plus numerous job control and scripting languages.
My personal scorecard is now 1 PC hardware fix (circa 1982), 1 open source fix (at age 82), and 2 zero day bugs in a major OS.


   
ReplyQuote
byron
(@byron)
No Title
Joined: 5 years ago
Posts: 1135
 
Posted by: @jeffreyjene

This is the beginning of my ROS enabled robot CATHI

An impressive beginning.  Does CATHI have an end goal or is it just an experimental rig to get to learn to use ROS in an indoor setting.  Whatever, its certainly a bot to have some fun with 😀 


   
ReplyQuote
(@jeffreyjene)
Member
Joined: 4 years ago
Posts: 56
Topic starter  

@zander ROS is Robot Operating System. It's hard to tell the cost, I've sort of collected the parts over the years. The base chassis is black acrylic and Actobotics channel and xrail (servocity.com). The brain is a Nvidia Jetson Nano 4GB, the sensor and motor microcontroller is an Arduino Mega, the motor drivers are Cytron MD10C. Wheels are 4" RobotZone in the front with omni wheels on the back (2 paired to a side). Then there is an RPLidar and a generic webcam along with a 7" Raspberry Pi HDMI screen. I'll be adding more parts of course, but that's what I started with. Maybe $500-$600? I'm going to give a tour of CATHI's parts soon, if you need part numbers or whatever I'd be happy to let you know. I do know that Jetson Nanos are tough to get now due to a chip shortage.

JJ

 

Edit: Forgot to mention two GoBilda Yellowjacket motors.


   
ReplyQuote
Ron
 Ron
(@zander)
Father of a miniature Wookie
Joined: 4 years ago
Posts: 7397
 

@jeffreyjene Based on the parts mentioned the price sounds right before the shortages drove the prices crazy. Is there something special about the Jetson or can a Pi be substituted easily.

First computer 1959. Retired from my own computer company 2004.
Hardware - Expert in 1401, and 360, fairly knowledge in PC plus numerous MPU's and MCU's
Major Languages - Machine language, 360 Macro Assembler, Intel Assembler, PL/I and PL1, Pascal, Basic, C plus numerous job control and scripting languages.
My personal scorecard is now 1 PC hardware fix (circa 1982), 1 open source fix (at age 82), and 2 zero day bugs in a major OS.


   
ReplyQuote
robotBuilder
(@robotbuilder)
Member
Joined: 5 years ago
Posts: 2045
 

@jeffreyjene 

Looks good 🙂

 


   
ReplyQuote
(@jeffreyjene)
Member
Joined: 4 years ago
Posts: 56
Topic starter  

@zander The Jetson is superior when it comes to visual imaging than the Pi and I plan on using a lot of OpenCV. Also, it was sooooo much easier to install ROS on the Jetson.

JJ


   
ReplyQuote
Ron
 Ron
(@zander)
Father of a miniature Wookie
Joined: 4 years ago
Posts: 7397
 

@jeffreyjene I will have to check it out.

First computer 1959. Retired from my own computer company 2004.
Hardware - Expert in 1401, and 360, fairly knowledge in PC plus numerous MPU's and MCU's
Major Languages - Machine language, 360 Macro Assembler, Intel Assembler, PL/I and PL1, Pascal, Basic, C plus numerous job control and scripting languages.
My personal scorecard is now 1 PC hardware fix (circa 1982), 1 open source fix (at age 82), and 2 zero day bugs in a major OS.


   
ReplyQuote
Duce robot
(@duce-robot)
Member
Joined: 5 years ago
Posts: 686
 

I love it .


   
ReplyQuote
(@dronebot-workshop)
Workshop Guru Admin
Joined: 5 years ago
Posts: 1102
 
Posted by: @duce-robot

I love it .

I do too!

Curious what kind of battery pack you're using to power this?

😎

Bill

"Never trust a computer you can’t throw out a window." — Steve Wozniak


   
ReplyQuote
THRandell
(@thrandell)
Brain Donor
Joined: 3 years ago
Posts: 231
 
Posted by: @dronebot-workshop

 

Curious what kind of battery pack you're using to power this?

I was wondering the same thing

 

Tom

To err is human.
To really foul up, use a computer.


   
ReplyQuote
(@jeffreyjene)
Member
Joined: 4 years ago
Posts: 56
Topic starter  

@dronebot-workshop It's a 12V 3000mAh Matrix NiMH battery. I'm using two different buck converters for the components, one down to 5V and one to 3.3V. There's probably a better way to do it. I really would love to figure out how to make a permanent charging port affixed to the back, but I haven't gotten that far yet. Forgive the spaghetti wiring, please. This was an early photo.

20220708 155429

 JJ


   
ReplyQuote