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CATHI

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jeffreyjene
(@jeffreyjene)
Eminent Member
Joined: 2 years ago
Posts: 49
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!

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DroneBot Workshop, Duce robot, Inq and 2 people reacted
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Ron
 Ron
(@zander)
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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?

"Don't tell people how to do things. Tell them what to do and let them surprise you with their results.” - G.S. Patton, Gen. USA
"Never wrestle with a pig....the pig loves it and you end up covered in mud..." anon


   
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b
 b
(@b)
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Joined: 3 years ago
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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 😀 


   
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jeffreyjene
(@jeffreyjene)
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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.


   
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Ron
 Ron
(@zander)
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@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.

"Don't tell people how to do things. Tell them what to do and let them surprise you with their results.” - G.S. Patton, Gen. USA
"Never wrestle with a pig....the pig loves it and you end up covered in mud..." anon


   
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robotBuilder
(@robotbuilder)
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@jeffreyjene 

Looks good 🙂

 


   
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jeffreyjene
(@jeffreyjene)
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@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


   
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Ron
 Ron
(@zander)
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@jeffreyjene I will have to check it out.

"Don't tell people how to do things. Tell them what to do and let them surprise you with their results.” - G.S. Patton, Gen. USA
"Never wrestle with a pig....the pig loves it and you end up covered in mud..." anon


   
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Duce robot
(@duce-robot)
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I love it .


   
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DroneBot Workshop
(@dronebot-workshop)
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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


   
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THRandell
(@thrandell)
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Posted by: @dronebot-workshop

 

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

I was wondering the same thing

 

Tom


   
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jeffreyjene
(@jeffreyjene)
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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.

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 JJ


   
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