Chat:
Juan: https://docs.google.com/document/d/17bPVy9IUBp3xqllMGpGTsoqm8cyIUm37bdLj_oB9NDE/edit?usp=sharing
Juan: https://github.com/ros-infrastructure/rep/blob/1f2a892d87f859481f1fb624b216520f68056593/rep-0105.rst
Juan: http://wiki.ros.org/rosnode
Juan:
https://tractorautomation.slack.com/files/U01LCR21M8B/F01Q31LMX5L/screenshot_from_2021-03-05_01-41-12.png
https://tractorautomation.slack.com/archives/C8X6X6H7D/p1614930451003000?thread_ts=1614738079.014300&cid=C8X6X6H7D
Index:
00:00 Juan: Is talking about a way to reset the navigation stack. Jeff was confused. (At the time we did not realize that the way the navigation stack, with Move Base Flex, was setup that the state machine would not accept a new path to be entered. We later figured that out.)
05:00 Discussuion of using a Dubins curve generator to create a path.
42:20 Jeff: Talks about his power steering motor for his lawn tractor.
51:15 Juan: asks about other wires coming out of power steering motor.
53:00 Discussion of mounting a feedback potentiometer to the motor. And other sensor techniques.
56:00 Al: Shows his screen, but nobody can see it. He describes his mounting technique.
59:00 Talk about what to do with our first (experimental) meeting recording.
1:00:00 Unrelated talk about CoVid vacines.
1:01:00 Quick mention of running a physical vehicle vs. a simulated vehicle.
1:02:00 We finally reached the end of our first meeting as the Lawn Tractor Automation group.
It looks like we are back on Zoom this meeting.
Chat:
Vinny: https://www.technology.pitt.edu/help-desk/how-to-documents/zoom-enabling-screen-sharing-participants\
Juan: https://i.imgur.com/VaeEIdc.png
Vinny: https://github.com/ros-agriculture/lawn_tractor/issues
Vinny: https://github.com/ros-agriculture/lawn_tractor/pull/39
Juan: https://docs.google.com/spreadsheets/d/1JES0CGYjiFmQXKdtgvr0XBUH5w0qMadhWtDpELFurbQ/edit#gid=1906044958
Index:
00:00 Juan: Is complaining about extra characters in Jeff's ROS-Agriculture index files. http://sampson-jeff.com/RosAgriculture/
06:00 Discussion of github maintenance. Approval process.
12:45 Juan: Gives a quick update on where he is.
13:40 Al: Talks about Zoom configuration.
14:15 Al: Talks about a thread. Jeff complains about threads. Discussion about controlling speed in cmd_vel. What is creating cmd_vel in this context?
25:30 Al: Talks about useful links. Plays his steering motor video. (Now at: https://www.youtube.com/watch?v=tf5nvv1yyug&t=26s )
29:00 Juan: Wants to see a video of startup/testing procedures.
32:45 Al: Talks about weatherizing components. Jeff mentions alternate mounting techniques. Real world considerations for making decisions. Discussion of where to mount things, like GPS antennas.
42:20 Reminiscing about Al cutting off his motor shaft. And where to mount sensors.
45:00 Vinny: Wants everybody to become professional software developers.
48:40 Al: Mentions his TKinter based GUI interface.
Chat:
None
Index:
00:00 Al: Shows his magnetic sensor design.
01:30 Al: Talks about mounting his steering motor.
06:20 Jeff: Shows pictures of attempting to mount a steering motor on his lawn tractor.
27:00 Jeff: Holds up his BNO055 IMU module. Many anecdotes.
34:50 Al: Pulls out a rugedized Android cell phone.
37:50 Bob: Asks about Jeff's steering motor.
39:15 Jeff: Talks about IMUs and calibration.
48:20 Discussion of raspberry Pi vs. Arduino type modules.
50:00 Bob: Picked too small of a box.
Chat:
Bob: Jeff can you talk about how you are communicating with the motor controller? I2C from which processor?
Al: https://community.platformio.org/t/platformio-on-vscode-for-stm32-stm32f103-bluepill-with-the-arduino-framework-cannot-upload-via-usb-dfu-bootloader/16393
Bob: Last night I fired up my pi 3 with card that Jeff sent me. Linux and ubiquity Ros. Anyone use that software? I’ll need. Laptop to do thing right?
Al: https://www.ardusimple.com/product/simplertk2b-sbc-development-kit/
Index:
00:00 Al: Gives an update on his project.
10:30 Jeff: Talks about adding electric steering to lawn tractors.
22:05 Jeff: Mentions the giant R/C servo for the transmission control.
25:25 Jeff: Talks about his progress on indexing the ROS Agriculture videos.
26:10 Juan: Talks about ROS-serial.
28:35 Jeff: Answers Bob's question on how to control the big motors. Some talk about interfacing ROS to microcontrollers. USB vs. CAN. Talk about using Blue Pill boards.
39:15 Bob: Asks if anybody is using the Ubiquiy ROS image for a Raspberry Pi. Bob wants to know if he can control motors directly from Raspberry Pi. Jeff says to use small microcontrollers connected to a Raspberry Pi. Mention of 3.3V vs. 5V microcontrollers. Much more talk about microcontroller board selection. Discussion of controlling Bob's motors. Comparison of each persons control configuration.
59:30 Al: Goes over his chat comments. Mentions using Platform_IO on Blue Pill. Jeff complains about the Ardusimple SBC vaporware. Maybe it actually exists now.
Chat:
None
Index:
00:00 Al: Starts off talking about getting Move Base to run. He is trying to move from simulator to a physical lawn tractor.
Much confusion about what software is running and where.
14:15 Juan: Talks about his partner.nHe talks about wheel sensors.
He is working on a script to test his sensors. He shows his small robot kit.
Juan asks about the Google drive. Al asks about Juan's testing procedure.
Al mentions his TKInter GUI interface for displaying errors.
Discussion of errors to test for, like a broken wire.
29:55 Juan: Talks about two different magnetic proximity sensors he has. 2-wire vs. 3-wire.
Jeff offers words of wisdom.
34:35 Juan: Asks about steering motor. Asks about calibrating the position poteniometer with the a script and the motor.
Voltage/current/torque/guessing...
44:55 Bob: Gives an update on his new laptop. We talk about loading Linux.
1:01:10 Jeff: Suggests how to find out what is loaded on a ROS Ubiquity image for Raspberry Pi.
Chat:
Jeff Sampson: http://wiki.ros.org/base_local_planner#Goal_Tolerance_Parameters
Jeff Sampson:
if((MotorPos > MAX_POS) && (error < 0))
error = 0;
if((MotorPos < MIN_POS) && (error > 0))
error = 0;
Index:
00:00 Al: Gives a progress update. Has an issue with different results in simulator and the real world. Discussion of goal tolerence.
26:50 Jeff: Talks about his steering motor. Discussion of setting arbitrary angle limits so you don't destroy a pot or bang into the hardstops. Talk about various control methods. PWM frequency.
40:20 Juan: Shows a video of his steering motor. (We later decided he has set 100% PWM so the motor is getting a straight DC with no pulsing. So it is quiet.)
45:20 Juan: Has a new robot kit to make a small test robot.
46:50 Bob: Gives an update. He is working on his control box. He describes it.
51:50 Al: Just noticed the code Jeff posted earlier, so we go over that again. We talk about comparing each persons code for the steering controller.
55:40 Juan: Talks about his small robot again.
57:15: Talk moves back to steering motor control code.
Chat:
Juan: https://gist.github.com/rje1974/48f9bc3dc2685634ecaca59a7748b60b
Bob: Why are people attracted to ROS2 in the first place?
Index:
00:00 Al: Gives an update. He is now successfully doing a simple nav goal.
04:10 Al: Talks about URDF. He refers to the spreadsheet from this video:
https://youtu.be/6_hMXXAN9l4
05:40 Al: Talks about downloading YouTube videos. Using youtube-dl That is how Jeff and Javier downloaded all of the ROS-Agriculure videos.
06:40 Jeff: Has fixed his steering motor so that it does not whine so much. Jeff loses connection.
Talk about 1 step forward and 2 steps back.
11:50 Jeff: Comes back online. Gives some demos of the steering motor. Discussion of the code other people are using.
21:30 The question comes up... where can we find steering code that is posted. Much confusion ensues...
32:10 Jeff: Offers words of wisdom. Maybe for his own gratification...
34:20 Juan: Gives an update. Talks about move to ROS2.
41:50 Juan: Asks Jeff (paraphrasing) about development as opposed to deployment. (Processor choice.)
46:15 Al: Addresses Jeff's comments.
46:30 Jeff: Addresses Bob's question about why people want to switch to ROS2.
48:10 Juan: Quickly interjects about differences between his code and Al's code.
49:05 We finally get back to Al. He points out he added periodic parameter reload. To make debugging easier.
55:20 Juan: Suggests discussion to reorganize the Google drive. Discussion of distributed harddrives. Juan talks about the "tree" command on Linux.
1:04:45 Bob: Gives an update on his new toys.
Chat:
Jeff: http://sampson-jeff.com/RosAgriculture/
Jeff: Downloading all videos: https://askubuntu.com/questions/334081/downloading-multiple-files-with-youtube-dl
Al: https://docs.google.com/document/d/1POPZjOQ3dYgu_R2K8GN43gm_dJkSjhZGP-b0CjYPG9E/edit?usp=sharing
Al: Flash Teensy instructions
Jeff: Power discussion: https://www.youtube.com/watch?v=7vAiCxBI-0I
Javier: http://ais.informatik.uni-freiburg.de/teaching/ss19/robotics/
Al: for future ref: https://medium.com/@subodh.malgonde/building-an-actual-self-driving-car-53f67ca41566
Jeff: Javier's presentation: https://www.youtube.com/watch?v=aaF-LyvIVrU
Al: https://ardupilot.org/plane/docs/common-mission-planner-gps-based-antenna-tracking.html
Javier: https://toptechboy.com/tag/bmo055/
Al: https://www.getfpv.com/fpv/antenna-tracking.html
Javier: https://github.com/ultralytics/yolov5
Javier: https://jepeloa.medium.com/controlling-e-bike-wheels-with-ros-1e58bc4d688f
Index:
00:00 Al: Gives an update on his progress. He shows a custom GUI.
04:20 Short discussion about the ROS-Agriculture YouTube videos that a couple of people downloaded.
08:00 Jeff: A link to his index for the ROS-Agriculture videos.
10:15 Juan: Gives an update on his project. (He was cutoff)
12:05 Jeff: Posts a link to chat for downloading videos.
12:40 Juan is back. He can't get his Teensy to download.
Al talks about programming Teensy with Platform-IO.
17:55 Juan: Talks about another project and a custom PC board.
20:45 Al: Talks about Arduino Pro Mini board.
Talk about voltage regulators.
Powering Arduinos through USB vs. direct.
31:45 Juan: Asks how Jeff builds the YouTube video index.
36:50 Javier: Posts a link to educational courses.
40:25 Al: Posts a link to a self driving car.
42:30 Javier: Talks about his robot projects. Localization, URDF, GPS.
50:20 Jeff: Posts a link to Javier's original ROS-Agriculture presentation.
Asks about Javier's about GPS antenna positioning.
Discussing correction signal vs. GPS signal.
54:15 Discussion moves to adding tilt correction to the GPS antenna.
55:10 Al: Questions why tire pressure would affect GPS position.
56:55 Javier: Shows images of his new robot he was just describing.
Talk about directional WiFi antennas. Talk about communication methods.
1:02:30 Javier: Talks about a Bosch BNO055 IMU.
1:05:20 Al: Posted links for antenna tracking. Discussion of antennas.
1:09:00 Back to Jeff's questions. How is it possible to drive through a corn field.
He has another small robot that fits completely between two rows of corn.
1:11:45 Javier: Shows images of counting soy bean pods. Using YOLO.
1:15:45 Javier: Shows pictures of his small robot.
He is using Hover Board wheels and e-Bike controllers.
He posts a link to the e-Bike controllers.
Chat:
Al: https://plotjuggler.io/
Index:
00:00 Al: Gives an update. Talks about transform trees, tuning, other, more testing
06:45 Jeff: Asks about Al's tractor not backing up. Lots of talk about Al's transmission control.
23:00 Jeff: Asks another question about not backing up.
24:45 Jeff: Offers suggestion to watch numbers during debugging.
26:10 Al: Talks about plotjuggler plotting program.
31:10 Jeff: Talks about reading voltages with an A/D converter.
35:15 Jeff: What should I be doing???
37:50 Jeff: Making actual steering path match a requested steering path.
Turns into big discussion of calculating steering angle scale.
1:01:30 Juan: Shows his second test setup. Talks about choosing parts.
01:12:30 Bob: Talks about his "Barbie Car".
Jeff talks about his quadrature wheel odometry.
Al talks about his magnetic encoder for wheel odometry.
Jeff suggests adding a second proximity sensor to Juan's sprocket encoder.
Talk about Bob's Barbie Car steering.
Chat:
Juan: https://en.wikipedia.org/wiki/Radian
Index:
00:00 Al: Starts off with a discussion of his transmission control. Verifying speed.
Compare wheel sensor speed to GPS speed.
13:20 Jeff: Goes down the path of Ackermann steering.
A long discussion of low level steering control and asking if anyone has a working example.
Juan "thinks" he might have move_base without TEB planner controlling his lawn tractor.
The whole steering converation goes way off track when 2-D nav goals and GPS waypoints are introduced.
We get back to low level control.
53:30 Juan: Shows a new linear actuator. And talks about a steering sensor.
Discussion of multiple steering sensors to detect errors.
59:25 Jeff: Suggests comparing recoverd rotational velocity to requested rotational velocity to verify calibration.
1:04:40 Jeff: Shows his 12/16 bit ADC convertors.
1:08:10 Juan: Asks Al how he connects multiple Teensy's to his Raspberry Pi.
Discussion of why you would want multiple low level controllers.
1:22:55 Jeff: Talks about which computer to put your nodes on, base computer or robot computer.
Possibly eliminate extra traffic across your remote network.
Chat:
Jeff: https://www.youtube.com/watch?v=i6uBwudwA5o
Javier: http://wiki.ros.org/teb_local_planner/Tutorials/Setup%20and%20test%20Optimization
Jeff: http://sampson-jeff.com/RosAgriculture/
Al: https://www.linkedin.com/in/kylerlaird/
Index:
00:00 Al: Is looking at steering control. Massive discussion on "angle in radians" vs. "radians per second".
And how to scale the steering to make it work.
We finally decided that no one knows exactly how this works...
48:30 Christian: Says he is getting back up to speed on ROS. Brief talk about reference books.
50:00 Jeff: Asks about Christian's robots.
50:30 Discussion of motors.
52:45 Jeff: Posts a link to chat for our ROS Agriculture YouTube video index. Javier has a presentation in that index.
57:25 Jeff: Is attempting to get Wine and u-center to run on his robot Linux computer.
1:01:45 Al: Is working on his transmission controller.
1:08:00 Jeff: Asks what the appropriate name for our new group should be.
Chat:
None
Index:
00:00 Jeff: Talks about scaling and calibrating steering. Sensors to verify steering - Wheel odometry, gyroscope, GPS.
03:15 Jeff: Points out Plotjuggler won't accept a string (of comma separated value).
04:30 Jeff: Shows plots of various sensors reporting rotational velocity.
Much talk about how he derived the values for each sensor.
28:30 It finally comes around to the point where steering radius can be verified.
37:20 Discussing everyone's IMU collections.
40:55 Bob: Talks about his joystick. Discussion of scale and deadband.
Jeff goes into a long winded description of how to build a remote control system.
1:05:00 Christian: Talks about his CNC machine. And replacing old computers.
Chat:
Al: https://docs.google.com/document/d/1POPZjOQ3dYgu_R2K8GN43gm_dJkSjhZGP-b0CjYPG9E/edit
Al: https://wiki.ros.org/phidgets_imu
Index:
00:00 Jeff: Is talking about extracting data from the robot as feedback.
Rotational velocity: Wheel odometry, GPS, IMU (gyro).
Various ways to view stored data. Plotjuggler accounts for time differences.
08:45 Jeff again claims he has a BNO085, But he has a BNO055. (The same type of sensor that Javier has)
09:10 Jeff: Finally corrects himself. (He and Javier have a BNO055 and Al has a BNO085)
09:35 Jeff: Is wrong again when he says the same library will work for either one. Confusion of I2C pins.
13:40 Jeff: Tells a story that a Teensy 3.2 won't talk to Ubuntu. Solved by waiting for DTR to be active.
18:35 Jeff: Asks Al if he has problems with Teensy on Ubuntu.
23:45 Jeff: Gets back to listing the steps he took.
24:40 Jeff: Talks a about publishing the data.
Interface types.
24:40 ROS drivers for IMUs.
31:00 Jeff: Shows some pictures.
36:05 Jeff: Finally pulls up some plots.
1:05:20 Al: Talks about his IMUs.
Discussion of linear acceleration vs. rotational velocity.
1:23:30 Again, Jeff falsely claims the BNO055 and the BNO085 are interchangeable. They probably are not.
Chat:
Al: https://agopengps.discourse.group/t/bno085-or-bno080-imu/2993/173
Index:
00:00 Al: Is working on his BNO085 IMU. He pulls up some code:
https://gist.github.com/jones2126/c33afeca3ea9e3e777dfe29f610b1a06
Jeff is wrong here. He is talking about a BNO055 and Al is talking about a BNO085...
09:40 Al: Is looking for a link to a thread from AgOpen GPS group. He posts a link to the chat.
17:20 Jeff: Shows some code for a BNO055 IMU.
He does a demo.
Talk about publishing a float array to a topic.
38:05 Jeff: Talks about his NTRIP client receiver for GPS corrections.
Long saga about WiFi security.
44:30 Jeff: Talks about a problem with wheel odometry node. Needed to ignore out of range charaters.
46:40 Al: Asks if anyone knows what SHTP protocol is.
Chat:
Al: Background: https://math.stackexchange.com/questions/711469/how-to-read-negative-radians-in-the-interval
Al: https://www.opto22.com/products/groov-epic-system
Index:
00:00 Al: Is working on his IMU. He is having problems with Platform-IO.
02:55 Al: Asks how Jeff is getting data from an IMU and publishing in ROS.
06:15 Al: Shows his IMUBrick code. Discussion of publishing IMU messages.
09:35 Jeff: Is trying to get all of his sensors to report correctly.
Talk about getting heading and velocity from /gps/vel topic.
16:45 Al: Shows his chart for understanding ENU coordinate frame.
Talk about converting from NED to ENU. And when do you do it.
26:00 Jeff: Talks about using pre-written functions instead of writing your own.
28:30 Jeff: Complains that he remote control has problems.
34:15 Jeff: Complains about the uBlox F9P ROS driver.
36:15 Al: Asks about the Twin Cities Robotics Group.
38:20 Al: Talks about using a Raspberry Pi as a PLC.
47:45 Jeff: Mentions a Sparkfun board with 10 addressable LEDs and a Qwiic interface.
And Qwiic extender modules.
Discussion of other interfaces and electrical noise.
52:20 Jeff: BNO055 IMU vs. BNO085 IMU and calibration.
Audio only. (Video got lost.)
Chat:
None
Index:
00:00 Al: Gives an update. Talks about his BNO085 IMU.
22:45 Jeff: Complains about having no power.
24:45 Jeff: Talks about some testing.
26:05 What is Jeff going to use for heading?
28:25 Wheel odometry.
31:40 Oscilloscopes.
32:30 What's next?
33:00 Steering sensors. USB hubs.
34:20 Adressable LED status strip.
38:50 Al: Is going to be be working on his alternate lawn tractor.
41:25 Complains about his lights again.
Audio only. (Video got lost.)
Chat:
None
Index:
00:00 Al: Is playing with IMUs and has ROS Serial problems.
06:00 Al: Talks about GPS CORS correction data in Texas.
09:00 Al: Mentions he has some ROS e-books. Talks about navigation techiques.
12:10 Jeff: Talks about attempting to buy BNO080/BNO085 IMUs. Talks about his older BNO055 IMU.
Turning off back ground magnetic calibration. Magnetic calibration in general.
18:55 Jeff: Shows some plots (but we don't have video).
Analyzes some plots with GPS status.
37:15 Jeff: Mention of the LED status strip.
39:50 Some analysis of GPS path during different fix types.
42:05 Jeff: Discussion of wheel odometry.
56:25 Mention of various ROS drivers for IMUs. (for the next 1/2 hour)
Some exploration into how the Chip Robotics IMU is configured.
Much digging through the code from Chip Robotics. Then we look at the BNO085 spec sheet.
Chat:
None
Index:
00:00 Al: Talks about his IMU. He got a Chip Robotics IMU. Shows his Adafruit BNO085 IMU.
04:20 Jeff: Talks about IMUs Complains about export restrictions. BNO055 calibration. (loss of conection)
06:35 Jeff: Is back. More on BNO055 calibration.
10:45 Jeff: Talks about his LED status strip.
16:55 Jeff: Complains about his e-Stop switch on his remote control.
21:40 Al: Shows a gadget he could have bought at auction. We talk about radio direction finders.
Disscusion of worthless junk. Antique gryoscopes.
New-fangled IMUs...
35:15 Al: Continues talking about his Chip Robtics IMU and Arduino Nano with BNO085 IMU.
Publishing values.
43:00 Al: Opens his Chip Robotics IMU box and shows it.
Discussion of how to change output formats.
We verify that it only has a BNO085 and a FTDI adapter chip. No Microcontroller.
Chat:
None
Index:
00:00 Juan: Talks about a robot for schools.
17:00 Jeff: Can't get screen sharing to work. Talks about his odometry experiments.
20:25 Jeff: Talks about "unwarpping" the heading values. So instead of being limit to 0-360 degrees they can increase without bound. Shows some plots.
31:50 Jeff: Talks about e-Stop switches.
35:55 Jeff: Talks about Adafruit BNO085 IMU.
42:25 Jeff: Talks about Geodetic survey markers in Minneapolis.
58:10 Al: Is testing IMU. Has problems with Ubuntu 20.04.
Chat:
Al: https://gist.github.com/jones2126/3460e9a51e1bb943eef714edf1c3eb3b
Index:
00:00 Al: Talks about his new BNO085 IMU. Shows his user interface screen.
He documented his code on a gist site. (Link in chat)
He talks about a software crashing problem.
17:30 Jeff: Tells the story of measuring a survey maker.
29:45 Jeff: Talks about IMUs. BNO055 and BNO085.
38:20 Jeff: Talks about re-using protoboards.
42:20 Jeff: Relates the saga of more odometry testing.
Chat:
Juan: https://github.com/ROS-Es-Sp/ROS_Es/projects/1
Juan: https://github.com/GonzaCerv/noah-hardware
Al: apologies guys I need to run; Have a great weekend
Index:
00:00 Al: Is showing plots from a bagfile. His is evaluating a BNO085 IMU.
Talk about IMU noise from vibration.
07:20 Juan: says he got some new code from another project. It runs on an STM32F4... processor.
Talks about documentation. Problems getting a board with the correct CPU.
16:25 Jeff: Starts a discussion about which version of STM32CubeIDE that Juan is running.
19:50 Jeff: Pulls up his STM32CubeIDE.
21:40 Juan: Pulls up his IDE again.
26:16 Juan shows us the github for his new code. (Posted in chat section.)
30:00 Juan: Mentions that Mikrotik has a VPN that can be configured in the router.
31:00 Jeff: Has Juan do some exploring in his IDE.
34:40 Jeff: Asks about the different boards that Juan us trying to use.
40:30 Jeff: Gives an update on his "Run away robot". Talks about monitoring CAN interface.
Chat:
None
Index:
00:00 Juan: Shows his new STM32F407 board. He has no documentation.
Discussion on how to program it.
15:20 Juan: Talks about getting help from local groups.
18:40 Jeff: Talks about Juan's new board. Suggests not changing any pin configuartion in the IDE software. Simply connect external devices to the appropriate pin on the board. The software/configuration may not require changing.
21:00 Juan: Talks about the ROS wiki and the huge quantity of information.
23:50 Jeff: Summerizes Juan's next steps.
24:30 Jeff: Holds up a new BNO055 IMU from Adafruit.
24:55 Jeff: Revisits the "runaway robot" problem.
Mentions problem might be the CAN interface.
Describes adding a USB/CAN adapter and feeding CAN messages to a ROS topic.
Also output the speed/steer/switches data to the existing ROS node.
27:00 Juan talks about remapping messages in launch files.
27:20 Jeff: Lists his next steps to test the CAN interface.
27:30 Jeff: Talks about blowing the motor fuse, that was mentioned last week.
Adding a current monitor to the motor drive.
The motor current will get published to a topic and saved in a bagfile.
Mention of steering feedback.
30:15 Juan: Asks when the snow is coming. (Which may end testing.)
(I set this meeting to full screen mode.)
Al and Jeff had a discussion before the recording started. We equated forward velocity,
rotational velocity, wheel base, minimum turning radius and steering angle.
And talked about steps to make it work.
Chat:
Index:
00:00 Jeff: Summarizes the discussion we had before the recording started.
03:20 Al: Asks for clarification about how the modified cmd_vel message is interpreted. Actual scaling.
12:10 Al: Says he thought he had to know the recovered rotational velocity.
Talk about verifying requested angle to actual path driven.
15:20 Does the joystick need to be rescaled?
17:40 Al: Talks about his second IMU.
20:00 Al: Is going to add his second rear wheel speed sensor on the right side.
21:20 Jeff: Give update. Reiterates the story of the intermittent eStop switch.
23:45 Jeff: Goes through his whole "run-away robot" story and maybe some fixes.
27:45 Jeff: Mentions a second generation remote control system to come.
28:35 Jeff: Talks about blowing fuses on the main motor and adding current monitoring.
36:25 Jeff: Talks about scaling the new current sensors.
37:20 Jeff: Talks about maintaining the new YouTube videos.
38:10 Al: Expresses optimism after we talked about steering angles.
Chat:
http://wiki.ros.org/teb_local_planner/Tutorials/Planning%20for%20car-like%20robots
Index:
00:00 Juan: Is trying to find something.
01:25 Juan: Got his ST-Link programming dongle.
01:45 Juan: Mentions some path planning software he found.
05:25 We discuss Juan's ST-Link programmer. Mention of ST32 Cube Programmer software.
08:15 Jeff: Talks about modifying his low level microcontroller software.
09:30 We jump back to Jeff trying to get the programmer software started.
11:00 We talk about in-circuit debugging using the ST-Link module.
12:50 Jeff: Gets the programming software to run.
23:50 We discuss the debugger for ST parts.
28:30 Jeff: Talks more about steering and enhancing code for debugging and verification.
46:30 Juan: Asks about controlling topic publish rates.
49:00 Mention that Plot Juggler lines up all of the samples that are at different rates.
50:15 Another mention that the new version of Plot Juggler will directly plot quaternions.
51:10 Juan: Discusses the ROS Wiki and his attempts to translate the wiki to Spanish.
Chat:
None
Index:
00:00 Jeff: Talks about Al's velocity control. We discuss the joystck node Al is using.
Jeff suggests a solution, but he is wrong.
11:30 Discussion of why the joystick does not output expected values.
Joystick scaling.
20:30 Summary of what we just talked about.
21:10 Al: Asks for more advice on steering.
Jeff goes back through the recovery of radius and steer angle from a bagfile.
29:50 Jeff: Commits to writing a node to automatically extract radius and angle from a running system.
33:25 Jeff: Notes a problem with Plot Juggler (probably created by a partial play back of bagfile)
36:35 Jeff: Explains how to record a new bagfile with new topics appended onto previous bagfile.
37:50 Juan: Talks about programming his STM32 boards.
46:00 Jeff: Explains the steps he doing to try to remap the GPS antenna to put it over over base_link.
This may only be required since we are running gps_odom.py instead of using the navsat_transform node to convert the GPS.
[Jeff mis-states X vs. Y axis for GPS for specifying location.]
Continues explanation.
Discussion of GPS remapping and scaling/verifying steer angle.
Chat:
None
Index:
00:00 Jeff: Reviews his GPS antenna location remapping experiments.
21:00 Jeff: Does the angle derived from wheel odometry match the recovered angle
from forward velocity and rotational velocity?
27:30 Jeff: Discussion of scaling input angle (in our case this would be supplied by TEB local planner) to
the physical steering. Then verifying the calibration by comparing the input angle to the recovered angle.
Chat:
Juan: https://github.com/Ekumen-OS/Noah-bot-simulation
Al: https://weeklyrobotics.com/
Al: https://github.com/msadowski/ardusimple_rover
Al: https://msadowski.github.io/ardusimple-ros-integration/
The link that Jeff couldn't remember at the time:
https://answers.ros.org/question/249001/yaw-problem-for-imu-fusinon-in-robot_localization/
Index:
00:00 Jeff: Starts with discussion of headings and remapping the GPS antenna location.
Turns into a discussion of NED vs. ENU formats.
06:30 Al: Suggests using a "known good" simulator to verfiy heading directions.
08:35 Jeff: Expands on his confusion with the various coordinate frames.
11:35 Jeff: Talks about how heading is used in the gps_odom.py program.
Which leads to the point that just because something is published, it doesn't mean it is being used.
16:45 Jeff: Mentions link that talks about plotting odometry and why it does not match the vehcile position plot.
20:45 Jeff: Mentions that Robot Localization may only use IMU heading for initialization.
22:45 Jeff: Mentions that Mat Sadowski has implemented Robot Localization with just GPS input.
30:50 Juan: Atempts to start up a simulator.
33:30 Short discussion of posting arrays of data to topics for debug.
36:05 Discussion of "The Construct" and all of their examples using simulators.
42:20 Al: Posts the link to Mat Sadowski's blog on GPS only.
52:30 Short discussion of covariance from GPS drivers.
59:10 Discussion of the NEW Ardusimple boards.
Discussion of doing your own calculation for dual antenna heading vs. using a built-in function.
1:06:30 Possibly your GPS receiver will accept some form of wheel odometry input.
1:11:00 Next steps...
Chat:
Al: https://hackaday.com/tag/agopengps/
Jeff: https://msadowski.github.io/ardusimple-ros-integration/
Jeff: https://github.com/msadowski/ardusimple_rover
Index:
00:00 Juan: Is working with a simulator. Choosing parts for new design.
04:30 Al: Posts a picture of the Ag Open GPS board for reference.
08:50 Al: Says he hasn't gotten much done. But mentions finding areas for larger scale testing.
09:30 Jeff: Mentions parks around town for possible testing areas.
11:15 Jeff: Brings up the concept of low speed vehicles.
And suggests adding displays to tell you what it intends to do.
18:30 Jeff: Talks about working up to running robot_localization_ekf.
Shows plots of first run, and perceived problems.
Fixed static_transform_broadcaster issue.
Shows plots of second run.
36:00 Jeff: Talks about changing GPS publish rate from 5Hz to 10Hz.
Discussion of comparing various plots.
Discussion of different heading sources.
52:15 Jeff: Talks about fixing the uBlox navheading output which appears to be off by 180 degrees.
Advantages of using navsat_transform/robot_localization over gps_odom.py.
57:00 Jeff: Posts the links for Mat Sadowski's code to the chat.
And mentions MapViz.
59:30 Jeff: Discussion of setting initial robot pose in latitude and longitude.
1:04:50 Discussion of "The Construct".
Chat:
Al: https://mushr.io/
Al : mushr_base/mushr_base/src/racecar_state.py
Jeff: https://github.com/prl-mushr/mushr_base/tree/master/mushr_base
Al: https://mushr.io/tutorials/coordination/
Jeff: https://mushr.io/tutorials/mushr_navigation_system/
Index:
00:00 We start off by looking at the Mushr project. We do a lot of digging for related software.
Various links are posted.
41:50 We switch over to Jeff's GPS results.
48:00 Jeff: Talks about the gps_odom and navsat_transform/robot_location having an offset.
54:15 Everybody checks the weather for upcoming testing. And talk about weather-proofing vehicles.
Chat:
Jeff: Al's code for today: https://gist.github.com/jones2126/a9575cdda87b2b3c8ba431b9f38b8449
Index:
00:00 Jeff: Talks about the meeting recording process.
01:25 Juan: Shows his small model robot.
03:15 Al: Asks if Juan's new robot will have GPS. Juan talks about his GPS setup. (Birds eating cables.)
06:15 Juan: Shows his ROS-Agriculture simulator running again. Talks about simulated GPS in Stage simulator.
09:25 Juan: Talks about mixing physical hardware with a simulated vehicle.
11:30 Juan: Talks about connecting a physical folder to a docker image.
15:00 Al: Talks about his transmission control software. (See link in chat.)
24:45 Jeff: Talks about creating a 4-wheel Ackermann vehicle for Gazebo.
33:25 Discussion about random ROS versions.
34:55 Al: Asks if anyone has found the one video or tutorial that explains everything about URDF files.
46:10 Different levels of simulation.
51:45 Juan: Talks about using a physical accelerometer as an input controller.
Chat:
Jeff: Code I started with: https://gitlab.yonohub.com/mohamedahmed/picar
Al: https://github.com/prl-mushr/mushr/search?q=urdf
Index:
00:00 Al: Shows an R/C car he is looking at.
02:20 Al: Talks about lawn tractor progress.
06:10 Jeff: Talks about models created for Gazebo. Lots of rambling conversation on Gazebo and versions.
And how the navigation software fits in with the simulation.
Chat:
Al: Walbro EFI overview: https://www.youtube.com/watch?v=Q9agc-7_jqs&t=148s
Juan: stm32f407vbtx
Juan: Stm32f407vet6
Juan: https://tienda.ityt.com.ar/plataforma-stm32/11345-mini-stm32f407-stm32f407vet6-desarrollo-arm-cortex-m4-itytarg.html?search_query=Stm32f407vet6&results=2
Index:
00:00 Jeff: Says he is too lazy to do anything.
00:30 Al: Shows his "recovered angle" data from his lawn tractor.
05:25 Al: Moves on to why his lawn tractor would not start.
06:00 Jeff: Mentions that Plot Juggler "might" have an option to "average" the values for a plot.
07:00 Al: Asks how acurate the measurements have to be.
07:35 Al: Asks about what he needs to change in his code.
19:10 Juan joins the meeting.
20:15 Juan: Asks if Al can get his lawn tractor to stop. Turns into discussion of vehicle wiring diagrams.
23:45 A discussion of how to stop the engine (on the new fuel injected models).
22:45 Jeff: Questions the original. Was the question about stopping from lack of cmd_vel or about e-Stop?
26:45 Al: Describes about his engine with fuel injection and electronic ignition.
29:50 Juan: Talks about his ST Micro CPU he is is using.
Chat:
Juan: https://www.linkedin.com/in/lucas-daniel-larroque-mart%C3%ADnez-2aa76a15b/
Al: https://gist.github.com/jones2126/78fc852caee9d10e5108e64422993657
Al: https://docs.google.com/document/d/19BwoQ0tGbLQzXHREdpmU91daD2YybY-LSbKjXs8yGow/edit?usp=sharing
Al: that is the Arduino-cli note
Al: 2021 RPi image build https://docs.google.com/document/d/1e_G5wbIG-_NvdfubZtinnoX8fGwul4fCja07e2X2Yew/edit?usp=sharing
Index:
00:00
00:40 Al: Testing his steering map function. Talks about Platform-IO problems. And he may switch to the Arduino CLI interface instead.
08:40 Jeff: Says he is not doing anything.
08:50 Juan: Describes his processor conversion effort. He has code designed for the STM32F4-Discovery board (stm32f407vg) and he wants to run it on a board with a stm32f407ve processor. For the next hour we go through and try to figure out the simplest way to make the conversion. We got something that it looks like it will work. Juan will try to recreate the process later with a fresh copy of the respository and see if it works...
Chat:
Jeff: A project to run ROS Navigatio2 on AWS racer. https://discourse.ros.org/t/integrating-ros-nav2-stack-with-aws-deepracer/23481
Jeff: https://github.com/mcauser/MCUDEV_DEVEBOX_F407VET6
Jeff: https://stm32-base.org/boards/STM32F407VGT6-STM32F4XX-M.html
Juan: https://github.com/Itamare4/ROS_stm32f1_rosserial_USB_VCP
Juan: https://github.com/SyrianSpock/stm32f4discovery_rosserial
Index:
00:00 Juan: Talks about STM32 boards he is working with. Juan gives a BluePill to ROS demo.
Some discussion about STM3 boards and ST-Link modules.
14:35 Al: Is in the process of of updating his low level controller code.
16:30 Jeff: Posts a link to ROS Discourse about running ROS2 navigation2 on the AWS Racer.
18:35 Jeff: Talks about two new STM32F407vet6 boards like Juan has. Discussion of different board types.
40:55 The discussion turns to getting the STM boards to talk to ROS.
53:00 Juan: Posts some links for ROS serial on STM.
Chat:
None
Index:
00:00 Jeff: Goes through his setup to program the STM32F407VET board from Arduino.
14:15 Discussion of hands-free in-circuit programming. So you don't have to open the robot to reprogram.
19:00 Juan: Demonstrates programming and using the Blue Pill (STM32F103) board.
24:00 Discussion about which IDE to use. STM32CubeIDE or Arduino IDE. Pros and cons.
25:30 Jeff: Mentions a PDF from a presentation.
It details how to use STM32CubeMX tool to configure the chip and generate code.
Then move the code into Arduino IDE.
PDF: https://www.dprg.org/wp-content/uploads/2019/09/Moving-Up-To-ARM.pdf
Youtube presentation: https://www.youtube.com/watch?v=xGFnFWJXC8M
DPRG on Youtube: https://www.youtube.com/user/DPRGclips
31:10 Suggestions of "extra" things to include when publishing/creating documentation.
33:30 Juan: Points out that you can find lots of articles telling you how to avoid using the ST-Link programmer.
But he suggests you should just spend the ~$10 and get the ST-Link module.
34:20 Jeff: Points out that the ST-Link module can also be used for debugging.
35:20 Juan: Explains that it is hard to buy parts in his country.
41:30 Jeff: Mentions that the Arduino IDE may/or may not support all of the peripherals on the STM32 chips.
42:35 Juan: Recaps his serial communication issues.
44:50 Jeff: Offers some debugging suggestions to verify each step of communication to Linux.
Chat:
O3D303 3D Camera https://www.ifm.com/us/en/product/O3D303
Jeff: 3D Camera ROS Agriculture presentation https://www.youtube.com/watch?v=-VELjDwsgoo
Al: https://store.opencv.ai/products/oak-d
Al: https://docs.opencv.org/4.x/d9/df8/tutorial_root.html
Al: Auto-Focus -- Fixed Focus for Color Camera on OAK-D-Lite
We're thinking we should change the OAK-D-Lite to use a fixed-focus color camera instead of an auto-focus camera. The `why` is that fixed focus allows use in high-vibration environment environments, with little loss of functionality for all other applications. The only real change to the end-user of OAK-D-Lite would be that the min focus distance for OAK-D-Lite would move from about ~pi inches (~3.14) to about 20 inches. And for most applications, it is seeming that this is totally acceptable - in return for the camera being usable in places where there are high vibrations (like drones, but also on machinery, RC-cars, etc.).
Al: https://www.meetup.com/ai-ml-for-robotics-and-iot/events/282811556/
Index:
00:00 Jeff: Mentions the 3D camera he bought a couple of years ago. He posts a link to the ROS Agriculture presentation.
02:20 Discussion of specs on various cameras. Al posts links to Oak-D cameras.
04:30 Discussion of to look for when considering any sensor.
06:45 Jeff: Goes into rant about proliferation of AI as the answer to everything. More talk about Oak-D cameras.
10:25 Fixed focus vs. auto focus.
13:00 Al: Is working on his remote firmware update for his Teensys.
13:40 Al: Found another ROS group through Meetup that has video meetings.
20:50 Al: Goes to his to-do list to remember what he wanted to ask.
26:50 Al finally decides he wanted to ask about LORA radios. Discussion of Jeff's LORA radios.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for the original ROS Agriculture group (~250 videos) and the new Lawn Tractor Automation group: http://sampson-jeff.com/RosAgriculture/
Chat:
Juan: https://github.com/ros-drivers/rosserial/issues/518
Juan:
Remove folder ros_lib inside libraries directory.
Then got to Arduino IDE-Sketch-Include Library-Manage Libraries... ( Ctrl+Shift+I )
And search for "rosserial" and install: Rosserial Arduino Library by Michael Ferguson
Using version 0.7.9, worked with fresh new Arduino Uno and Arduino Mega. Also able to compile for Seeeduino Zero (integrated on Odyssey X86J4105)
Ross: Hi guys. I'm in transit today. Just thought I would drop on for 5 min and say 👋
Index:
00:00 Juan: Talks about remote networks using cell modems.
03:50 Juan: Shows the parts he has to work with in the USA.
04:30 Juan: Asks for a recommendation for a cheap GPS for testing.
08:00 Juan: Talks about version issues with ROS Serial. And talks about using ROS Serial.
15:15 Ross: Joins the meeting.
17:30 Ross: Says "hi". We talk about is wireless networks for his fields.
21:20 Juan: Suggests cell modems.
23:30 Discussion of what data to send and how much to send over network.
30:00 Jeff: Says he may document his LED status strip for ROS.
35:25 Jeff: Talks about his LORA radio remote control. And plans to make a new version.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for the original ROS Agriculture group (~250 videos) and the new Lawn Tractor Automation group: http://sampson-jeff.com/RosAgriculture/
Jeff and Bob Discuss Bob's LORA radios. He may use them on a Teensy 3.2 or a Raspberry Pi. Bob has these:
https://www.adafruit.com/product/4074
Jeff has these:
https://www.adafruit.com/product/3178
https://www.adafruit.com/product/3231
https://www.adafruit.com/product/3072
https://www.adafruit.com/product/3200
Jeff: Posted this table of proposed connections for Teensy 3.2
Pin Digital Used for
=== ======= ================================
1 GND
2 0 sw1
3 1 sw2
4 2 sw3
5 3 sw4
6 4 sw5
7 5 eStop1
8 6 eStop2
9 7 DOUT (MOSI - Radio)
10 8 DIN (MISO - Radio)
11 9 CS (Radio)
12 10 D10 - (RST - Radio)
13 11 D11 - (IRQ - Go on Radio)
14 12 n/u
15 13 LED (In parallel with panel LED)
16 14 SCK (Clock - Radio)
17 15 pb1 A1 - Reserved
18 16 pb2 A2 - Reserved
19 17 pb3 A3 - Reserved
20 18 n/u SDA0 - Reserved (or A4)
21 19 n/u SCL0 - Reserved (or A5)
22 20 A6 - Joystick
23 21 A7 - Joystick
24 22 A8 - Joystick
25 23 A9 - Joystick
26 3.3V Out
27 AGND
28 Vin
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for the original ROS Agriculture group (~250 videos) and the new Lawn Tractor Automation group: http://sampson-jeff.com/RosAgriculture/
Chat:
Jeff: A page that talks about which pins to use for a LORA radio. (***Add this link***)
Al: https://www.alibaba.com/product-detail/2-4G-Wireless-Remote-Control-Wireless_60636492203.html
Al: aka "2.4Ghz TGZ-850M Gamepad"
Al: https://docs.google.com/document/d/19EID7QT9J-TceXtfbqKu_0GrIiIGkpM6COMi5lEBcc0/edit
Index:
00:00 Jeff: Recap of Bob's project that we talked about on previous video here: https://youtu.be/MrHonCkq5Tk
01:10 Jeff: shows his LORA radio collection.
03:15 Jeff: Complains about soldering SMA connectors to the Ada Fruit boards.
06:35 Discussion of the 3 different antenna connection options.
10:40 Jeff: Talks about using the Ada Fruit All-In-One LORA board.
14:50 Jeff: Again mentions he may eventually make tutorial videos. Remote control, for instance.
15:10 Moves into discussion of gamepads on ROS. And mention of Ross's long range WiFi network
17:15 Back to tutorial topics. Discussion of uses of remote control and eStop. Comments of safety.
23:50 Al: Posts a link to the Wireless gamepad he bought.
25:25 Jeff: Says you should also have a "Dead Man" switch.
28:15 Al: Asks about remotely programming the Arduino/Teensy type boards.
29:00 Jeff: Finds his small joystick and shows it.
31:15 Al: Asks more about remote programming. But runs into Slack/Zoom/YouTube maintenance issues being discussed...
36:05 Back to discussion on Arduino CLI interface and Program-IO programming.
We talk about why neither one works for Teensy and try to track down ways to fix either one.
50:45 Jeff: Makes a feeble attempt to show pictures of his robot.
51:50 We start updating the "Links" pinned message at the top of the General channel on Slack. It is updated now.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for the original ROS Agriculture group (~250 videos) and the new Lawn Tractor Automation group: http://sampson-jeff.com/RosAgriculture/
Chat:
Jeff: https://www.adafruit.com/
Al: YouTube video I mentioned earlier that references Meshtastic. https://www.youtube.com/watch?v=TY6m6fS8bxU
Al: https://www.amazon.com/868MHz-915MHz-Bluetooth-Development-Transceiver-WIshioT/dp/B07HJ49VN8/ref=pd_vtp_1/147-7220866-7036043?pd_rd_w=9AZvZ&pf_rd_p=96226b5f-2d9a-439b-be45-97603787c682&pf_rd_r=N6MTV0XQ3VSYTWT34Z86&pd_rd_r=8b0a4b1a-3eac-4234-9d8e-9a94f97aa681&pd_rd_wg=Nv3rB&pd_rd_i=B07HJ49VN8&psc=1
Jeff: https://forum.pjrc.com/threads/63528-MISO-and-MOSI-ports-for-connecting-LoRa-to-Teensy-3-2
Index:
00:00 I think we talked about LORA radios for remote control the whole time .
I will view it and may update the index.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for the original ROS Agriculture group (~250 videos) and the new Lawn Tractor Automation group: http://sampson-jeff.com/RosAgriculture/
Chat:
None
Index:
00:00 Bob: Posted images to Slack and talks about parts he needs to aquire.
He talks about his approach for his radios. And talks about his spreadsheets for pin numbers.
08:55 Bob: Shows his tractor control box and describes it.
12:30 Bob: Talks about a Raspberry Pi display board.
14:55 Bob: Shows his "too small box". And talks about adding connectors instead of hard-wired.
17:15 Bob: Talks about his prototyping layout.
21:10 Jeff: Talks about antennas and antenna connectors.
23:50 Jeff: Mentions that the "extra" GPIO pins on the radio do not have to be connected back to the processor board.
Comments on the OLED display connections.
26:10 Bob: Talks about formatting data for LORA.
28:00 Jeff: Says he is too lazy to work on anything.
28:25 We discuss Al's plans. And "over-the-air" reprogramming.
35:00 Bob: Talks about real-time-clocks and temperature sensors.
35:20 Bob: Questions the amount of processing poower on the Tennsy boards.
36:50 Bob: Talks about not having enough desk space for all of his display monitors.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for the original ROS Agriculture group (~250 videos) and the new Lawn Tractor Automation group: http://sampson-jeff.com/RosAgriculture/
Chat:
Al: Google doc that goes through the various software "stacks"
https://docs.google.com/spreadsheets/d/13iu1SKzC3u8UJB-Z2nUe2jxEUZqns0Dpvobv8dYRnRs/edit#gid=1906044958
Jeff: https://www.youtube.com/watch?v=TKJ9fyqLX1s&list=PLdWg7SF1vdl0lg4vYOa5wIAXLIfPErG4_&index=3
Al: Transforms "helper"
https://docs.google.com/spreadsheets/d/1ygpZITLZh5PuPgFR0frdsZWDlsJZkBNAy8hnVjMy4qs/edit#gid=0
Al: https://gist.github.com/jones2126?page=1
Al: non-contact rotary position sensor with J1939 output
https://www.cw-industrialgroup.com/Products/Sensors/Rotary-Position-Sensors/NRH27C-No-Contact-CANbus-Rotary-Position-Sensor
Al: another non-contact sensor https://www.directindustry.com/prod/sensata-technologies/product-37684-1876062.html
Al: sensor on digi-key
https://www.digikey.com/en/products/detail/sensata-bei-sensors/ACW400-12BT-001/9921158?WT.z_cid=ref_Mectronic&s=N4IgTCBcDaIIIGEDqAWADGgtARjAIQBVMNsQBdAXyA&utm_campaign=buynow&utm_medium=aggregator&utm_source=mectronic
Index:
00:00 Start of discussion on where documentation is located.
10:20 We look at Al's spreadsheet for documentation.
15:40 Some talk about URDF files.
26:30 We talk about code on low level microcontrollers.
44:45 Al: Talks about which code base to run on his ROS computer.
48:00 Ross: Asks about simplifying or "dumbing down" low level control.
50:35 Ross: Brings up CAN bus.
51:20 Jeff: Goes back to simplistic low level control.
53:50 Al: Talks about position encoders. AMS-5048B magnetic encoder
57:05 Ross: Mentions using J1939 CAN standards for standardized messages.
1:19:10 Jeff: Mentions the Home Brew Robotics Group "Anything ROS" Zoom meetings.
1:24:45 Some comments about Docker.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for the original ROS Agriculture group (~250 videos) and the new Lawn Tractor Automation group: http://sampson-jeff.com/RosAgriculture/
Jeff: My YouTube channel: https://www.youtube.com/user/jws8675309/videos
Jeff: https://www.youtube.com/watch?v=HB9Z1SIBHn0
Al: https://www.aliexpress.com/item/32840238513.html?spm=a2g0o.9042311.0.0.6be54c4dMsc92F
Al: https://randomnerdtutorials.com/ttgo-lora32-sx1276-arduino-ide/
Index:
00:00 Jeff: Shows some diagrams of a hypothetical physical ROS vehicle. Then switches to Gazebo instead actual vehicle.
31:00 Jeff: Holds up his small robot and compares it to his larger robot.
32:55 Al: Asks about the lineage of the small robot.
33:30 Jeff: Digs up a link to his YouTube channel. And shows a quick excerpt for the small robot. The date was 2016.
40:45 Al: Shows his ESP32/LORA/Display board.
44:00 Al: Posts link to sample code for the board.
52:35 We talk about Al's problem that PlatformIO no longer works with ROS Kinetic.
55:50 Jeff: Complains about his weather.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for the original ROS Agriculture group (~250 videos) and the new Lawn Tractor Automation group: http://sampson-jeff.com/RosAgriculture/
Chat:
Jeff:
How do we describe a robot? With URDF! | Getting Ready to build Robots with ROS #7
https://github.com/joshnewans/urdf_example
https://www.youtube.com/watch?v=CwdbsvcpOHM
Creating a rough 3D model of our robot with URDF
https://articulatedrobotics.xyz/mobile-robot-2-concept-urdf/
https://www.youtube.com/watch?v=BcjHyhV0kIs
NAV2 - Setting Up The URDF
https://navigation.ros.org/setup_guides/urdf/setup_urdf.html
linorobot2
https://linorobot.org/
https://github.com/linorobot/linorobot2
Al: https://www.osrfoundation.org/simulated-car-demo/
Al: https://gist.github.com/jones2126
Index:
00:00 Jeff: Talks about URDF tutorials
57:30 Al: Gives update on his lawn tractor project.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for the original ROS Agriculture group (~250 videos) and the new Lawn Tractor Automation group: http://sampson-jeff.com/RosAgriculture/
Chat:
Al: https://gist.github.com/jones2126/bfebe7879e83ad2a7121bd7cace6f393
Al: https://docs.google.com/document/d/1mW2v-a57ChIMwLSJhm87rMTcmUPB0fjNsEGPqLDi37Y/edit
Al: https://gqrx.dk/
Al: https://www.wsprnet.org/drupal/
Al: https://www.rtl-sdr.com/building-a-ham-tranceiver-with-an-rtl-sdr-raspberry-pi-and-rpitx/
Index:
00:00 Al: Gives updates. Steering scaling. He needs to put his tractor back together and make it work.
udev rules. IP address conflicts.
05:45 Al: Explains his IP address problem.
15:35 Al: Talks about udev rules (that don't work).
22:15 Comments that everybody needs to get their machines put back together and able to run outside.
23:25 Jeff: Goes off-topic by talking about SDR (Software Defined Radios).
45:00 Jeff: Talks about publishing odometry messages from a Gazebo simulator.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for the original ROS Agriculture group (~250 videos) and the new Lawn Tractor Automation group: http://sampson-jeff.com/RosAgriculture/
Chat:
Jeff: https://github.com/rst-tu-dortmund/teb_local_planner/blob/melodic-devel/scripts/cmd_vel_to_ackermann_drive.py
Jeff: https://www.youtube.com/watch?v=I_5leJK8vhQ
Index:
00:00 Jeff: Gives a demo of the cmd_vel_to_ackermann_drive converter.
06:30 Jeff: Gives a demo of his progress with a 4-wheel Ackermann vehicle in Gazebo.
16:30 Al: Asks how you get odom messages from gazebo.
21:50 Bob: Asks if the simulator and physical machine are interchangeable.
28:45 Jeff: Talks about trying to photograph addressable LED strips.
37:55 Bob: Talks about his radio and Raspberry Pi experiments. Wireless communication setup. VNC vs. remote desktop.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for the original ROS Agriculture group (~250 videos) and the new Lawn Tractor Automation group: http://sampson-jeff.com/RosAgriculture/
Chat:
None
Index:
00:00 Al: Gives progress report. Steering, RVIZ not working correctly, some outdoor testing
09:05 Jeff: Gives demo of Gazebo progress.
11:25 Jeff: Shows the output of view_frames.
12:10 Starting Gazebo.
14:00 Driving with joy->cmd_vel->ackermann launch file.
16:50 Driving with joy->ackermann launch file.
18:30 Adding some obstacles to the Gazebo world, just for fun.
19:00 Starting move_base launch file with standard differential drive local planner.
21:55 Starting move_base launch file with TEB local planner. And some obstacle avoidance.
32:50 Discussion on what to do next.
34:00 Jeff: Again fights with Linux version of Zoom to stop screen sharing. Then just kills the whole thing...
After watch in the video it looks like screen sharing stopped as soon as I clicked "New share".
So I probably could have just exited at that point and the screen sharing would be done.
35:25 Discussion of a "flat" URDF file vs. a file with macros.
40:30 Al: Talks about changing values in his URDF and expected that to be the robot footprint (it's not).
44:45 Restating of how to add footprint to RVIZ.
Jeff then wastes a lot of time trying to post an image of the topic screen.
52:20 Jeff finally displays the image to select footprint...
53:45 Talk about getting dimensions of other vehicles to see if they can be reproduced.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for the original ROS Agriculture group (~250 videos) and the new Lawn Tractor Automation group: http://sampson-jeff.com/RosAgriculture/
Chat:
Jeff: The original R/C car I started with: https://gitlab.yonohub.com/mohamedahmed/picar
Index:
00:00 Al: Gives progress report. He is testing his GPS outdoors as a standalone device.
He talks about how to fix view_frames for Noetic.
02:15 Al: Has installed the new Ubiquity image for Noetic on Raspberry Pi.
04:15 Jeff: Points out they are to "fix" the Ubiquity image. Then Al will have his problems back.
08:20 Discussion of what Al's GPS base station consists of.
13:40 Jeff: Starts to explain his new phase-2 URDF files that use macros.
18:50 Start of live demos. Demos of the new URDF with Al's Cub Cadet dimensions.
25:00 The parameter file is changed to Jeff's Sammy robot. A demo of that.
27:50 Talk about tweaking parameters.
28:40 Al: Asks if the obstacle avoidance works. So we test it out.
33:00 Attempt to cancel navigation (since it can't reach goal). A new goal is selected.
35:25 Question about which versions of ROS this will work on.
36:45 Jeff: Complains about github. "Maybe" eventually release this on github.
38:15 Al: Summarizes the way he thinks it works. Then asks how difficult was it to make this work.
39:45 More in-depth view of what is required.
45:40 Several changes were made to Al's vehicle which may improve steering angle. That is tested.
49:00 Jeff: Explains some of the strange issues he was fighting with. More details on how the macros work.
56:20 Jeff: Fights with Linux/Zoom again to shut down screen sharing.
And Al asks about link to the original R/C car model.
58:35 History on the R/C car URDF.
59:50 A search is started to find the R/C car link that Jeff started with.
1:04:00 Jeff: Posts the link to the original (that he started with) R/C car.
1:06:15 Jeff: Says he cut the sensor code from the URDF and put it in an include file.
1:07:15 More talk about github.
1:10:50 Al notices that Jeff put all this code out on the shared Google drive.
1:15:40 Bling...
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for the original ROS Agriculture group (~250 videos) and the new Lawn Tractor Automation group: http://sampson-jeff.com/RosAgriculture/
Info:
ROS2 TurtleBot3_World tutorial: https://navigation.ros.org/getting_started/index.html
LinoRobot: https://linorobot.org/
LinoRobot2: https://github.com/linorobot/linorobot2
HBRC meeting with LinoRobot2: https://www.youtube.com/watch?v=Hj7m2xwlhWY
RSSC meeting with Steve Macenski (@ 1 hour mark): https://www.youtube.com/watch?v=3dqKXSAblvE
Index:
00:00 Jeff: Gives a progress update and review. (turtlebot3_world, ackermann vehicle in ROS1)
06:15 Jeff: Reasons to not use the turtlebot3 code for my Ackermann vehicle.
08:10 Jeff: Decided to look at Linorobot2 project for my Ackermann vehicle.
09:45 Live demo of stock Linorobot2 2-wheel drive robot. With Gazebo, RVIZ, Slam, navigation and mapping.
19:30 Switch the stock 2-wheel drive robot to Jeff's Ackermann vehicle.
27:40 Mention of the Home Brew Robotics meeting from the night before. There was a presentation of LinoRobots2.
28:15 What steps are next.
29:00 Why ROS2 at this point?
30:10 Jeff's experience/impression of ROS2 so far. (Just a few weeks of hack and slash.)
39:40 Mention of the RSSC meeting with presentation by Steve Macenski on ROS2-Navigation2.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for the original ROS Agriculture group (~250 videos) and the new Lawn Tractor Automation group: http://sampson-jeff.com/RosAgriculture/
Info: (Other websites mentioned)
picar
(What I started with) https://gitlab.yonohub.com/mohamedahmed/picar/-/tree/master/
(Newer version of Picar) https://github.com/aizzat/ackermann_vehicle
control commands: ackermann_msg
model: URDF
control software: ackermann_contoller.py
linkage: topics -> joint transmission
Linorobot2
https://github.com/linorobot/linorobot2
Linorobot2 - 2wd
control commands: cmd_vel
model: URDF
control software: standard Gazebo differential drove plug-in
linkage: cmd_vel -> Gazebo differential drive plug-in
Linorobot2 - ack (my hack)
control commands: ackermann_msg
model: URDF
control software: ackermann_contoller.py
linkage: topics -> joint transmission
olinrobotics
This uses a modified version of ackermann_controller from the R/C car
(Apparently this is where the tractor model in ROS Agriculture stage simulator came from)
https://github.com/olinrobotics/tractor_sim
https://github.com/olinrobotics/gravl
https://github.com/olinrobotics/gravl/wiki
ROS1 (Kinetic) Prius simulation
https://github.com/osrf/car_demo/blob/master/prius_description/urdf/prius.urdf
https://github.com/osrf/car_demo/blob/master/car_demo/plugins/PriusHybridPlugin.cc
control commands: custom (velocity, steer, shift, brakes)
model: URDF
control software: Gazebo plug-in
linkage: Gazebo plug-in (tf directly to joints?)
ROS2 Prius simulation
https://github.com/ros-simulation/gazebo_ros_pkgs/blob/foxy/gazebo_plugins/worlds/gazebo_ros_ackermann_drive_demo.world
https://github.com/ros-simulation/gazebo_ros_pkgs/blob/foxy/gazebo_plugins/src/gazebo_ros_ackermann_drive.cpp
control commands: cmd_vel
model: SDF
control software: Gazebo plug-in
linkage: Gazebo plug-in (tf directly to joints?)
Other links
https://github.com/chrissunny94/ackerman_ros_robot_gazebo_simulation
https://github.com/benwarrick/simple_ackermann
https://github.com/RobotnikAutomation/rbcar_sim/blob/melodic-devel/README.md
https://github.com/mfilipen/autonomous-mobile-car-like-robot
https://github.com/robustify/audibot
https://github.com/srmainwaring/steer_bot
http://wiki.ros.org/steer_bot_hardware_gazebo
http://wiki.ros.org/cirkit_unit03_simulator
https://github.com/froohoo/ackermansteer
Index:
00:00 Al: Talks about replacing his Raspberry Pi with a laptop computer. He shows his parts he has collected.
04:10 Al: Mentions his LoRa radios.
05:00 Jeff: Mentions that his laptop looks just like Al's laptop.
05:25 Jeff: Talks about collecting parts and next steps.
15:20 Al: Asks about using LoRa radios for remote control.
23:50 Jeff: Gives a recap of software progress. Simulators of various versions...
34:30 Jeff: Talks about trying to convert the ROS1 Ackermann controller Python script to ROS2.
37:00 Jeff: Goes down the path of complaining about his inexperience with ROS2.
44:20 More comments on Olin Robotics. And documentation in general.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for the original ROS Agriculture group (~250 videos) and the new Lawn Tractor Automation group: http://sampson-jeff.com/RosAgriculture/
Chat:
Al: https://www.pcbway.com/blog/technology/How_to_get_started_with_LoRa_LPWAN_using_TTGO_LoRa32.html
Al: https://www.instructables.com/TTGO-ESP32-LoRa-Board-With-DHT22-Temperature-and-H/
Index:
00:00 Al: Talks about his ESP-32 LoRa boards.
04:00 Al: Says his code will not compile. We start a debug process.
25:15 Discussion of how many I/O pins are available on this particular board.
32:20 Jeff: Brings up a comment that someone made about "courteous" use of the LoRa band.
Discussion of transmit power.
Channel selection.
45:50 Jeff: Reiterates "who is in control?"
49:00 More talk about library maintenance.
1:01:00 Jeff: Makes suggestions about design considerations. Specifically, mounting laptop on lawn tractor.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for the original ROS Agriculture group (~250 videos) and the new Lawn Tractor Automation group: http://sampson-jeff.com/RosAgriculture/
Chat:
We were talking about Bob's giant sheep. So I posted a link Robot Shop of Horrors
and a link to the day at Bob's house.
Jeff: http://sampson-jeff.com/rsoh/
Jeff: http://sampson-jeff.com/rsoh/010617/
Al posted a video of what he wants to do.
Al: https://www.youtube.com/watch?v=dePHLU3Oof8
Link to Ava-V2 write-up.
Jeff: https://www.robotshop.com/community/robots/show/ava-v2
Link to Articulated Robots YouTube page.
Jeff: https://www.youtube.com/channel/UCx9vSJTSZGFrErfPtut5GNQ
Link to Home Brew Robotics Group YouTube meetings.
Jeff: https://www.youtube.com/user/hbrobotics
Link to the meeting with the Ava-V2 robot.
https://www.youtube.com/watch?v=ijS7iwU9IfQ
Index:
00:00 Al: Talks about his ESP-32 LoRa boards.
02:45 Al: Talks about errors he is getting trying to compile.
27:00 Jeff: "I have nothing..."
27:20 Jeff: Mentions the HBRobotics meeting from yesterday. Posts a link to the "Ava" robot.
31:40 Jeff: Posts link to Articulated Robots on Youtube which has new videos added.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for the original ROS Agriculture group (~250 videos) and the new Lawn Tractor Automation group: http://sampson-jeff.com/RosAgriculture/
Chat:
Jeff: Ardusimple review: https://www.ardusimple.com/field-test-evaluation-of-the-ardusimple-simplertk2blite-zed-f9p-operating-in-rtk-mode-on-the-south-carolina-virtual-reference-network
Jeff: https://www.tandfonline.com/doi/full/10.1080/15481603.2020.1822588
Index:
00:00 Al: Talks about his ESP-32 LoRa boards. Shows his prototype box and talks about which pins he is using.
He says he wants to use LiPo batteries since his "Power Bank" battery won't stay powered up.
Lists his requirements and a test plan.
08:35 Al: Asks why his pots give him an over-range value.
09:45 Jeff: Asks how Al will use LiPo batteries. And LiPo charging.
Discussion of using a USB charging battery through the USB connector.
25:20 Jeff: Talks about a article on GPS receivers. And posts a couple of links.
30:30 Mention of fire ants...
31:10 Discussion of distance from correction server. Discussion of survey markers.
34:15 Al: Asks if there were any new messages on Slack channel.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for the original ROS Agriculture group (~250 videos) and the new Lawn Tractor Automation group: http://sampson-jeff.com/RosAgriculture/
Chat:
Al: https://www.aliexpress.com/item/2251832810444969.html?spm=a2g0o.order_list.0.0.6dbf18021y06fP
Jeff: https://learn.adafruit.com/adafruit-feather-m0-radio-with-lora-radio-module/using-the-rfm-9x-radio
Al: https://www.youtube.com/watch?v=hL5wzYBbuYU
Al: https://github.com/sandeepmistry/arduino-LoRa/blob/master/examples/LoRaDuplexCallback/LoRaDuplexCallback.ino
Jeff: rf95.waitAvailableTimeout
Al: https://github.com/CytronTechnologies/RFM-LoRa-Shield-Examples/wiki/Arduino-Sketches-Overview
Al: https://www.seeedstudio.com/blog/2020/08/03/lorapedia-an-introduction-of-lora-and-lorawan-technology/
Index:
00:00 Al: Talks about his ESP-32 LoRa boards.
Al asks if Jeff's communication is bi-directional.
We track down some examples...
11:40 Al: Shows some code he found.
20:00 Jeff: Goes looking for his code...
23:40 Short discussion of old vs. new laptops.
26:00 Al: Logs into a remote computer looking for his Arduino code.
38:05 Some digging through the Cytron website.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for the original ROS Agriculture group (~250 videos) and the new Lawn Tractor Automation group: http://sampson-jeff.com/RosAgriculture/
Chat:
Al: https://gist.github.com/jones2126/b2b0ee2174f1c9057692f9ca60b75efc
Al: https://randomnerdtutorials.com/power-esp32-esp8266-solar-panels-battery-level-monitoring/
Index:
00:00 Al: Talks about his ESP-32 LoRa boards.
He goes through some code.
04:45 Short discussion of pre-compiler options.
08:25 Mixing code examples.
11:00 Al: Talks about powering his LoRa board with solar panels.
13:00 Jeff: Talks about measuring engine RPM on a small engine.
14:20 Method to read alternator waveform.
22:15 Method to read the magnets on the flywheel.
28:40 Demos of the proximity sensor and the Hall effect sensors.
40:45 If you have a magneto then the transistor circuit that was shown may work on the primary side.
42:25 Optical sensing.
45:50 Bob: Had asked about cows...
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for the original ROS Agriculture group (~250 videos) and the new Lawn Tractor Automation group: http://sampson-jeff.com/RosAgriculture/
Chat:
None
Index:
00:00 Al: Talks about his ESP-32 LoRa boards.
06:15 Al: Goes through some of his code. He talks about an addressable LED strip for status display.
08:55 Al: Talks about the code to run the LoRa radio.
12:45 Jeff: Shows his (remote control end) code and talks about it.
32:45 Some discussion of e-Stop condition vs. pause condition.
36:20 Discussion of timeouts.
44:20 Jeff: Shows his (vehicle end) code and talks about it.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for the original ROS Agriculture group (~250 videos) and the new Lawn Tractor Automation group: http://sampson-jeff.com/RosAgriculture/
Chat:
Al: https://gist.github.com/jones2126/73eb93df2c8eead98ce4fab4d6cfe5fe
Al: https://gist.github.com/jones2126/fd3a5d0ae8eac66f42afc491b2490573
Al's version 2 LoRa remote: https://youtu.be/Parj9fLj3Oo
Index:
00:00 Al: Talks about his ESP-32 LoRa boards.
Posts links to code.
09:15 Jeff: Talks about his lawn tractor.
19:25 Al: Talks about using Google Remote Desktop.
21:30 Jeff: Talks about steering control and extra sensors.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for the original ROS Agriculture group (~250 videos) and the new Lawn Tractor Automation group: http://sampson-jeff.com/RosAgriculture/
Chat:
Al: https://github.com/jones2126/ttgo_projects
Al: How to use GIT / Github in VSCODE for PlatformIO | Teensy | Arduino | Embedded System
Al: https://www.youtube.com/watch?v=13wmV6gcb2A&t=329s
Al: From https://randomnerdtutorials.com/vs-code-platformio-ide-esp32-esp8266-arduino/#2
Index:
00:00 Al: Explains that he has figured out git-hub. He is using it with VS-Code.
He is also using PlatformIO.
11:30 Jeff: Asks about some finer points on building/maintaining the git-hub page.
17:15 Jeff: Gives an update on his lack of progress.
20:15 Al: Goes over a wish list.
20:55 Jeff: Asks about Lithium Ion battery holders. And then some talk about 3D printers.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for the original ROS Agriculture group (~250 videos) and the new Lawn Tractor Automation group: http://sampson-jeff.com/RosAgriculture/
Chat:
Al: https://www.amazon.com/Leviathan-Penguin-Classics-Thomas-Hobbes/dp/0141395095/ref=sr_1_2?dchild=1&keywords=Thomas+Hobbes&qid=1620765914&sr=8-2
Al: https://youtu.be/faOb2YV_-Tg
Al:https://github.com/DSG-UPC/Arduino-LoRa-Mesh
Index:
00:00 Al: Is talking about his LoRa project. He found a new LoRa library.
08:25 Jeff: Talks about his lawn tractor progress.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for the original ROS Agriculture group (~250 videos) and the new Lawn Tractor Automation group: http://sampson-jeff.com/RosAgriculture/
Chat:
Al: https://www.youtube.com/watch?v=dLCRxTQ73FA
https://www.johnnyseeds.com/tools-supplies/harvesting-tools/greens-harvesters/baby-leaf-harvester-7980.html
https://www.youtube.com/results?search_query=quick+cut+greens+harvester
Index:
00:00 Jeff: Talks about his lawn tractor progress. Mechanical stories. Welding stories.
12:10 Jeff: Talks about the impending "Loss of Data" on the Slack channel.
22:15 Al: Talks about his TTGO/LoRa boards. His Platform_IO has stopped working. We talk about his code.
34:05 Al: Shows a small greens harvester.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for the original ROS Agriculture group (~250 videos) and the new Lawn Tractor Automation group: http://sampson-jeff.com/RosAgriculture/
Chat:
Jeff: Jeff's steering motor videos
https://www.youtube.com/watch?v=_uxsaOqgomU
https://www.youtube.com/watch?v=SxwuK75CF2U
Al: Code https://gist.github.com/jones2126/11557c73abbde5d32298918804950342
Jeff: The GOAT channel https://www.youtube.com/channel/UC_fquXcal5kvQXsbDxuiJhA
Index:
00:00 Al: Talks about his radios and computer configuration.
06:30 Jeff: Talks about Slack messages and the 90-day message limit.
13:40 Jeff: Talks about his power steering motor on his lawn tractor.
34:50 Jeff: Talks about adding videos to his personal page instead of the Lawn Tractor page.
38:40 Jeff: Talks about YouTube maintenance.
40:00 Jeff: Mentions the exposure on YouTube, specifically the old ROS Agriculture page.
41:20 Jeff: Complains about his lighting for Zoom videos.
42:30 Al: Talks about his C code.
44:45 Jeff: talks about "GOAT Industries" that he ran across.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for the original ROS Agriculture group (~250 videos) and the new Lawn Tractor Automation group: http://sampson-jeff.com/RosAgriculture/
Chat:
https://github.com/jones2126/ttgo_board
https://www.cubcadet.com/en_US/snow-blowers/3x-28inch-snow-blower%C2%A0/31AH5DVB710.html#start=0
Kyler Laird's remote control (At around 6:30 is where it lurches): https://www.youtube.com/watch?v=TatrSXJiq0I
All of Kyler's Tractobots: https://www.youtube.com/c/KylerLaird/videos
Index:
00:00 Al: Talks about his new 3D printed box for his LoRa remote.
02:00 Al: Presents some code.
07:30 More discussion about the box.
09:00 Jeff: Tells story about garage clean out. And a story about a snow blower.
13:10 Al: Suggests making a snow blower computer controlled.
17:20 Jeff: Talks about his "green screen" and controlling background images.
20:15 Al: Shows an industrial remote control he found.
37:05 Jeff: Comments on where videos were posted on YouTube, and the results.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for the original ROS Agriculture group (~250 videos) and the new Lawn Tractor Automation group: http://sampson-jeff.com/RosAgriculture/
Chat:
Jeff: https://esp32io.com/tutorials/esp32-button
Jeff: batteryhookup.com
Index:
00:00 Al: Talks about progress for his LoRa remote control. He points out
some switches and talks about his status LEDs. And battery monitor.
06:25 Al: Talks about his eStop switch.
07:10 Jeff: Asks if the OLED is viewable in sun light.
08:30 Al: Talks about displaying the battery status on his status LEDs.
11:35 Al: Points out where to get cheap batteries.
13:05 Jeff: Isn't doing anything. Then launches into a story about a dirty workbench.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for the original ROS Agriculture group (~250 videos) and the new Lawn Tractor Automation group: http://sampson-jeff.com/RosAgriculture/
Chat:
None
Index:
00:00 Jeff: Tells story about unloading junk on some scrap guys.
03:40 Jeff: Mentions some thoughts on testing.
06:30 Al: Talks about I/O pins on his TTGO ESP32 board.
15:15 Al: Talks about fiber optic gyros. (from an experimental point of view)
23:25 Jeff: Mentions email from Ardusimple.
24:40 Jeff: Talks about YouTube exposure and Slack channel members.
27:50 Conversation moves to the impending Slack channel changes. (and if they are actually valid)
Note: They are really going to do this: https://slack.com/help/articles/7050776459923-Pricing-changes-for-the-Pro-plan-and-updates-to-the-Free-plan#free-plan-changes
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for the original ROS Agriculture group (~250 videos) and the new Lawn Tractor Automation group: http://sampson-jeff.com/RosAgriculture/
Chat:
Jeff : Index of ROS Agriculture and Lawn Tractor meetings: http://sampson-jeff.com/RosAgriculture/
Jeff: My YouTube page: https://www.youtube.com/user/jws8675309/videos
Jeff : Lawn Tractor meetings: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/featured
Jeff: GOAT: https://www.youtube.com/watch?v=flXaL9d_CaM&list=PLYSpcfRJNQHPACEoVBRTK7H3WjZ0e59Wu&index=2
Al: https://www.powersportsmax.com/product_info.php/products_id/20784&utm_source=shopping&utm_medium=cpc&utm_id=atv-t045?msclkid=73aa11ec951015fade8572fc707f0a6a
Index:
00:00 Al: Gives a re-cap of his remote control system.
04:30 Al: Talks about learning Fritzing.
05:50 More discussion of the radio control architecture. And the OLED display.
07:50 Al: Shows some info in Fritzing. Making printed circuit boards with Fritzing.
15:45 Jeff: Mentions other PCB software.
18:00 Al: Shows where is going to mount a push button on his box.
19:30 Jeff: Talks about go-cart parts for parts.
29:10 Jeff: Talks about the mini quad bike that G.O.A.T. Industries is using.
33:40 Jeff: Mentions using two motors in the rear instead of using a differential.
39:00 Jeff: Asks Matt if he wants an invite to the Slack channel.
39:50 Discussion of the Slack "improvements".
40:35 Brief re-cap of how to access our group.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for the original ROS Agriculture group (~250 videos) and the new Lawn Tractor Automation group: http://sampson-jeff.com/RosAgriculture/
Chat:
None
Index:
00:00 Al: Talks about ordering a PCB that he created using Fritzing.
30:20 Jeff: Talks about reusing R/C cars.
37:40 Jeff: Talks about Go Cart parts and/or fabricating parts.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for the original ROS Agriculture group (~250 videos) and the new Lawn Tractor Automation group: http://sampson-jeff.com/RosAgriculture/
Chat:
Fancy/expensive robots on eBay: Search eBay for "ros ackermann robot"
Index:
00:00 Al: Talks about his LoRa remote. Shows his new PC board made with Fritzing.
13:00 Jeff: Suggestion for holes too small.
19:40 Al: Goes over a TO-DO list.
21:20 Jeff: Talks about random thinks he is thinking about or researching.
Differentials, transaxles...
25:20 Jeff: Creating steering to match the size and scale of the backend.
40:40 Jeff: Using off-the-shelf kid's cars.
48:30 Differences between Go Carts and robots. (precision)
50:30 Jeff: Fancy/expensive "ROS Ackermann" robots on eBay.
1:05:25 Trying to search for "ros ackerman robot gps". Cheap vs. precise GPS.
1:09:00 Thoughts on R/C cars for ROS robots.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for the original ROS Agriculture group (~250 videos) and the new Lawn Tractor Automation group: http://sampson-jeff.com/RosAgriculture/
Chat:
Motor running on table: https://youtu.be/MHd0v3Arq_g
Plot of motor running: https://youtu.be/EkU9EA50GnY
Index:
00:00 Al: Talks about his new code for controlling his power steering motor.
06:10 Jeff: Has comments on what Al is doing.
06:15 - Convert pot value to an intermediate angle value.
10:50 - Discussion of center steer value.
14:15 - Just use P out of P, I, D. Unless you have problems.
18:45 - Ways to debug strange results.
23:30 - Setting artificial end limits in code so don't smash anything
34:50 - Debug print statements may screw up your timing.
44:25 Al: Says he may post updated code.
45:35 More random comments.
48:20 Jeff: Gives another run-down on parts to build a steering system.
53:00 Jeff: Complains that his robot is too heavy. So we talk about Al's Lithium batteries.
And voltage regulators (or lack of regulator).
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for the original ROS Agriculture group (~250 videos) and the new Lawn Tractor Automation group: http://sampson-jeff.com/RosAgriculture/
Chat:
None
Index:
00:00 Al: Goes over version 3 code for his power steering motor.
Mention of "ledc" which is a high-frequency PWM function.
04:20 Conversions between counts and angles.
28:45 Discussion of noisy analog and resulting jitter.
37:00 Tour of Al's physical layout.
48:00 Jeff: Shows the results of using plastic blocks for steering components.
54:40 Jeff: Points out ways to make a back end for testing.
57:20 Jeff: Size consideration.
1:00:20 Al: Asks about naming and asks what is next.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for the original ROS Agriculture group (~250 videos) and the new Lawn Tractor Automation group: http://sampson-jeff.com/RosAgriculture/
Chat:
Al's remote code: https://github.com/jones2126/ttgo_board/blob/main/radio_control_v2.1/src/main.cpp
Al's vehicle controller: https://github.com/jones2126/ttgo_board/blob/main/radio_control_tractor_v1/src/main.cpp
Video about Cub Cadet seat switch: https://www.youtube.com/watch?v=qwqORlyu7r8
Index:
00:00 Al: Gives progress update on his lawn tractor controller and the remote controller.
05:20 Jeff: Shows how he mounted his laptop computer.
08:30 Al: Asks how to secure the screen. I say I just close the lid. Al asks how to prevent it from sleeping.
We talk about where to find the setting to control that.
13:45 Al: Mentions powering the laptop from the vehicle battery.
16:30 Jeff: Asks if we are going to get a demo of the tractor moving.
16:50 Jeff: Asks if Al has the eStop figured out with the fuel injected version of the tractor.
22:35 Jeff: Briefly mentions his lack of progress on a new smaller tractor.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for the original ROS Agriculture group (~250 videos) and the new Lawn Tractor Automation group: http://sampson-jeff.com/RosAgriculture/
Chat:
Al: https://clonezilla.org/downloads.php
Al: Radio control software https://github.com/jones2126/ttgo_board/blob/main/radio_control_v2.1/src/main.cpp
Al: Tractor software: https://github.com/jones2126/ttgo_board/blob/main/radio_control_tractor_v1/src/main.cpp
Al: https://www.youtube.com/watch?v=qwqORlyu7r8
Al: https://www.youtube.com/watch?v=ArEKafd0oBM
Index:
00:00 Al: Gives progress update on his lawn tractor controller and the remote controller.
02:45 We see a video of Al's lawn tractor driving.
07:00 Jeff: Talks about his progress on building a smaller robot.
21:00 Al: Asks about data logging.
34:50 Discussion of the seat switch and wiring.
42:45 Jeff: Asks if the laptop has a mechanical drive or a solid state drive. (for vibration)
47:15 Jeff: Complains about the way Zoom works...
49:00 Laptop mounting.
50:15 More video demos.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for the original ROS Agriculture group (~250 videos) and the new Lawn Tractor Automation group: http://sampson-jeff.com/RosAgriculture/
Chat:
Al: https://docs.google.com/document/d/1iQgvms-inNsP_-TtOGxOjQipT-mIIxHGuhmcW948AYo/edit
Al: https://docs.google.com/document/d/1w-nADgWnSuUZCkjbIYt2L3B5GJlkTXXfgxCJSgD9p9k/edit
Al: https://www.mcmaster.com/90447A160/
Index:
00:00 Al: Gives progress update on his lawn tractor controller.
Mention of remote login.
Disk imaging.
04:30 Al: Has his GPS board installed.
05:40 Discussion of udev rules.
13:50 GPS and NavSat driver.
15:45 Jeff: Quick review of the pieces for a a new small robot.
16:20 Jeff: Some thoughts on reducing the size. And methods of fabrication.
21:20 Jeff: Talk about making the front end match the width of the back end.
Discussion of bolt sizes.
24:50 Talk about different ball joints from Amazon.
26:00 Talk about cutting threads.
28:10 Pros and cons of metric vs. SAE hardware.
31:35 Prices at hardware stores vs. Menard's vs. Fleet Farm.
More random discussions and complaints...
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20211026.txt
Chat:
None
Index:
00:00 Al: Talks about updating his GPS driver to work with ROS Noetic.
06:15 Al: Talks about Odom. (looks like left and right wheel sensors)
07:10 He is installing simulator on his lawn tractor laptop (for some reason).
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20211026.txt
Chat:
Al: https://automaticaddison.com/how-to-publish-wheel-encoder-tick-data-using-ros-and-arduino/
Al: https://chiprobotics.gitbook.io/chip-robotics/sensors/imu-sensor/getting-started-guide
Al: https://chiprobotics.gitbook.io/chip-robotics/sensors/imu-sensor/getting-started-guide
Al: https://www.youtube.com/watch?v=dEPvZZ4luV4
Al: https://gist.github.com/jones2126/0f98af1cad3ca73df3b0e759cc30dc3f
Here is a description of using just GPS and gps_odom.py to do localization.
https://youtu.be/kHBzMp5E-lU?t=2132
Index:
00:00 Jeff: Shows his axle that he cut to reduce the length.
01:50 Al: Gives a status update. Comments on GPS, encoder.
03:45 Al: Talks about trying to get his Chips IMU running again.
05:30 Al: Watched some GPS videos.
05:55 Al: Mentions the original gps_odom.py code. Posts another link to a navigation video.
06:10 He is thinking about jumping into EKF and applying all of his sensors.
08:45 Al: More details about what he plans to do. PlatformIO, another video
10:00 Jeff: Suggests not jumping into EKF and just using GPS.
12:05 Discussing the "modified" NMEA NavSat driver.
14:50 Jeff: Complains about trying to use Google Drive.
17:20 Jeff: Mentions a script that extracts velocity and heading from a standard navsat/vel message.
Back to gps_odom.py
Mentions this meeting where the multiple copies of gps_odom.py were running:
10082021 Lawn Tractor Automation meeting
https://www.youtube.com/watch?v=GddLZDXx75Q
20:20 Talk about fixing or removing behavior trees that were added for the stage simulator.
22:35 Jeff: Mentions difference between various navigation packages.
23:20 Jeff: Again complains that he can't find any of the old data.
29:15 Snow???
29:45 Al: Points out he has his own backups.
33:50 Jeff: Babbles incoherently...
34:35 Al: Says his Teensy code no longer compiles.
41:30 Al: Mentions he is going to use the URDF file from my Gazebo simulator code.
I missed it when he said that, but I caught it when he says it again later...
42:10 Jeff: More excuses for a small robot.
43:25 More reiteration on what Al is about to do.
44:30 Jeff: Asks which computer is running which nodes.
46:30 We start looking at launch files and I suggest going back to the
original launch files and nodes from his RPi.
55:20 Al: Points out he is determined to use some of the shiny new code from my
simulator project, that does not apply. And this is where he says he wants
to use the URDF from the simulator. I said "Don't". Part of the confusion may be
due to missing ROS packages.
59:30 "The Punch Line"
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20211026.txt
Chat:
None
Index:
00:00 Jeff: Gives a tour of his new small robot progress.
10:50 Al: Gives a status update. Points out he can't get his vehicle to move.
13:30 Al: Can't get current stuff to work so he is looking at other navigation packages.
14:05 Jeff: Says maybe he was too hasty in recommending stripping down the navigation stack.
18:45 Leading up to a live debug session...
24:30 Discussion of what RVIZ publishes when you click 2D-NavGoal.
31:30 Some searching to see what topic name move_base_flex wants to see.
39:00 Start of live debugging.
1:01:30 Jeff: Suggests to also check cmd_vel to see if it needs renamed.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20211026.txt
Chat:
Jeff: My older robots: http://www.tcrobots.org/members/jsamp.htm
Al: https://www.youtube.com/watch?v=ySlU5CIXUKE
Index:
00:00 Jeff: Gives a second tour of his new small robot progress.
05:25 Bottom view showing servo mounted to axle. Steering control arms.
08:00 Discussion of weight.
10:50 Image for size comparison. (Wrong screen confusion.)
15:05 What about batteries?
17:10 Robot line-ups.
20:15 What GPS to use. uBlox M8T and RTK-Lib?
22:00 Al: Gives a status update.
23:05 Al: Suggests loading a new computer with his tractor_laptop_ROS_workspace and see if it still works.
23:45 Al: Explains his current problem. And adding a map.
33:30 Google Maps vs. Google Earth.
34:05 Discussion/confusion about various origins.
56:20 Origin vs. origin.
[Pause]
57:35 Al gives a recap of what we hashed out.
1:00:45 Jeff gives a recap of his interpretation.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20211026.txt
Chat:
Al: https://github.com/jones2126/tractor_laptop_ROS_workspace
Index:
00:00 Jeff: Shows the mostly completed steering on his new small robot.
10:45 Al: Starts with a status update.
New bag file, RVIZ problems.
New battery management system for his LIPO battery.
He has pots for real time control of his PID parameters.
He is consolidating his code, pictures and documentation on his github site.
12:30 Al: Shows his development roadmap.
13:20 Al: Shows his RVIZ screen.
13:50 Al: Shows pictures of his electronics on his lawn tractor.
15:25 Al: Goes back to a live RVIZ screen.
20:55 Jeff: Asks about battery monitoring. (with the fancy new BMS)
22:55 Al: Shows pictures of his phone app to show battery monitoring.
30:50 Al: Sums up where he is.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20211026.txt
Chat:
Al: https://github.com/jones2126/tractor_laptop_ROS_workspace/tree/master/project_support_files
Al: https://automaticaddison.com
Index:
00:00 Jeff: Shows latest progress on his new steering.
05:55 Al: Starts with a status update.
Shows some RVIZ screens to show positions.
08:00 Al: Has modified his geonav software.
10:20 Al: Is looking at using parameters.
11:50 Al: Added PID values to his output screen.
12:10 Al: List of things to do.
12:40 We start looking at Al's current problems. URDF file.
15:15 Jeff: Asks if it will run right now to do real-time debugging.
16:40 We go to a saved RVIZ screen to look at TF errors.
22:25 We decide to pause the video and Al runs out and sets up his lawn tractor.
[Pause]
Now the GPS is broken.
24:30 Terry joined us. Talks about autonomous snow removal.
Discussion of using Milwaukee M18 drill batteries.
31:05 Al: Posts a link to his github for his documentation.
31:50 Al: Was doing experimentation on his GPS driver code (while Terry was talking).
We do a lot more digging through code.
37:30 Al: Restates the obvious goal "just get it to move from point A to point B".
More digging through code...
We try lots of things.
52:05 We finally resort to deleting build and devel directories and doing catkin_make.
53:15 While it is rebuilding we talk about Terry's project some more.
Various ways to remove snow.
55:45 Al: Tries to give up again. But we won't let him.
56:45 We go back to reading the actual messages from the GPS to compare.
1:02:50 Al: Mentions various links as a learning source.
1:04:35 We decide to verify that the working program and
the non-working program are both talking to the same port.
1:06:20 We find that the two programs are pointing to different
ports (which is bad). Just as the catkin_make is finishing.
1:09:30 He fires it up again and the GPS works. So we spend a couple minutes deducing why the port changed.
1:12:00 Al starts up everything and the TF errors are gone.
1:16:30 The tractor isn't where expected. So Al is going to run outside and carry the antenna around.
[Pause]
1:17:15 We are back and can see the antenna moving.
1:18:50 Terry: Asks about the accuracy of Al's GPS.
1:21:05 Analysis of why the tractor position has the wrong offset.
1:22:50 Terry: Asks "what is TF?"
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20211026.txt
Chat:
Al: https://protonvpn.com/support/how-to-set-up-protonvpn-on-openwrt-routers/
Jeff: rostopic pub -1 /turtle1/command_velocity turtlesim/Velocity -- 2.0 1.8
Jeff: http://wiki.ros.org/ROS/Tutorials/UnderstandingTopics
Jeff: rostopic pub [topic] [msg_type] [args]
Jeff: https://github.com/jones2126/tractor_laptop_ROS_workspace
Terry: https://www.adafruit.com/product/3800
Index:
00:00 Jeff: Gives a demo of the mostly completed steering on his new small robot.
05:15 Jeff: Talks about drill batteries.
10:10 Al: Compares his lithium batteries.
12:20 Al: Talks about Jeff's steering again.
Questions about the position sensor in these R/C servos
17:45 Jeff: Talks about possibly adjusting the pot and getting better tracking.
20:15 Al: Shows a simulated vehicle so he can see the cmd_vel that is coming out.
36:50 Al: Reiterates what he thinks he is getting.
40:00 Jeff: Suggests directly publishing a cmd_vel to verify that works.
49:00 Okay, we finally figured out how to publish a cmd_vel.
53:00 We proved the vehicle will drive faster. So the problem seems to be TEB planner parameters.
54:30 Terry: Gives a quick update and asks how to proceed.
Discussion of simple motor control. And an Ada Fruit Itsy-Bitsy board.
SAMD_PWM function. Suggestion of ros_serial.
1:02:15 Al: Gives a brief overview of how does low level motor control.
1:03:45 Jeff: Says where to find this github. But it also gets posted to chat.
1:04:10 More talk about ros_serial.
1:05:00 Jeff: Talks about quadrature decode.
1:05:55 Al: Asks about Terry's Itsy-Bitsy board.
1:10:00 Al: Talks about simulation.
Some exploration of his simulation shows up.
Attempting to fix the vehicle being below the ground plane.
1:28:30 Some talk about how to create a map.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20211026.txt
Chat:
Al: https://www.aliexpress.us/item/2251832568712028.html
Al: 180kg.cm Parameters:
- Model: XJD-X1
Al: https://servodatabase.com/compare
Index:
00:00 Jeff: Mentions shorter screws and bolts.
00:35 Jeff: Talks about R/C servos, wire ferrules,
cable clamps, grounding the frame
02:45 Jeff: Gives a status update on what Terry is doing.
He has his dual channel Cytron driver board working with an Ada Fruit ItsyBitsy board.
Possibly weird problems with ground wires.
05:10 Jeff: Talks about snow blower concepts.
05:50 Jeff: Is back to indexing ROS Agriculture videos.
200 of 250 completed.
07:20 Al: Talks about file maintenance.
09:50 Al: Talks about workspace maintenance.
13:30 Al: Found out why his internet connection was being rejected.
15:25 Al: Is trying to find old code/videos.
We go through how to find the ROS Lawn Tractor Meeting index
and the ROS Agriculture meeting index.
Turns out it was the description of creating a path with Dubin's is what he was looking for.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat:
Al's github page:
https://github.com/jones2126
https://github.com/jones2126/tractor_laptop_ROS_workspace
Al's instructions for installing a simulator:
https://github.com/jones2126/ros1_lawn_tractor_ws
Index:
00:00 Al: Gives a status update.
Modified some dimensions on his simulator model.
01:20 Al: Talks about path generation.
Referring to this video: https://youtu.be/F3ycvmWkUl8?t=300
03:40 Al: Talks about his speed problem.
04:25 Discussion of velocity units.
07:20 Al: Talks about his github organization. And more comments of paths.
10:35 Jeff: Shows the crimp on wire ferrules he mentioned last week.
13:55 Jeff: Holds up a single channel Cytron board. And Terry's grounding issue is discussed.
16:25 Jeff: Random updates on what did (or did not) do.
17:15 Terry: Talks about the communication protocol for his drill batteries.
24:05 Terry: Talks about controlling his motors with a PID function.
28:40 Terry: Asks if ROS will control accel/decel or do you have to do it yourself.
30:20 Al: Brings up processor speed for quadrature decode.
33:15 Jeff: Again brings up the concept of using a cheap Blue Pill board as a smart peripheral.
And a discussion about SAMD21 vs. SAMD51. Because Jeff was confused.
34:45 Terry: Plans to address his motor control.
Discussion of the Milwaukee drill battery.
38:40 Al: Shows his battery management software monitor.
40:30 Jeff: Asks about the battery adapter for the drill battery.
43:30 Terry: Shows a voltage convertor he ordered.
44:55 More discussion on decoding the battery protocol.
48:15 Terry: Points out where he is loading software.
He is going to put Zener diodes on his voltage dividers.
49:15 Al: Points out the obvious.
49:50 Jeff: Talks again about automatically verifying his R/C servos.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat:
Articulated Robotics: https://www.youtube.com/@ArticulatedRobotics
Robot Shop of Horrors: http://sampson-jeff.com/rsoh/
Twin Cities Robotics meetings: http://www.tcrobots.org/mtgpics/picindex.htm
Jeff's old member page: http://www.tcrobots.org/members/jsamp.htm
Index:
00:00 Jeff: Shows his dual motor drive train.
10:20 Jeff: Talks about selecting a microcontroller board.
20:50 Jeff: Talks about the latest version of the giant servo he ordered.
And general R/C servo testing.
24:20 Jeff: Talks about some optoisolators he ordered.
30:30 Jeff: Stories of Robot Shop of Horrors and Twin Cities Robotics meetings.
32:10 Jeff: Servo testing, buying parts.
36:10 Terry: Talks about Articulated Robotics channel.
38:35 Terry: Gives an update on his motor control progress.
41:55 Al: Give a quick demo of his simulated vehicle to show the speed control problem.
[Warning, we spend the 1-1/2 hours trying to figure out what the problem is.]
53:45 We fire up dynamic_reconfigure to view and change parameters on the fly.
We verify that we can view and change values.
We can save all parameters and load them back in.
1:13:30 We come to the conclusion that base_local_parameters are probably not used at all.
1:16:30 We print out the loop rate that the planner is running at.
1:25:05 The question is asked if the forward velocity is reducing if the vehicle veers right and left.
Yes, it looks like that is a problem.
1:40:40 Jeff's package just showed up.
1:44:10 Maybe the (modified)cmd_vel to ackermann translator is changing values?
1:45:15 Terry leaves (so he knows where to pick this up if he wants to)
1:48:06 So in re-watching the video, I see at this point that I can see the global plan keeps replanning.
That pulls the path out from underneath and hands it a new one. That could confuse it.
You may be able to disable the global replanning. I think it is either a TRUE/FALSE
in the global planner parameters. Or it is a global replan rate in the same place.
1:52:50 The concept of switching from Al's lawn tractor back to Jeff's mini-tractor comes up.
2:12:50 move_base_flex?
2:15:25 We go look at parameters after switching vehicles.
2:15:50 It just occurred to me that teb local planner needs to know wheelbase.
So it is probably defined in the teb local planner yaml file. So that
is another place to change values if switching between vehicles.
2:20:00 Discussion of how to get all these random variables to match up automatically.
2:23:10 Jeff: Shows his new ASMC-04B servo he just got in the mail.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat:
Jeff: Giant R/C servos ordered from Amazon
ASMC-04A 110kg/cm - 0.12sec/60deg - $53 with no "servo plate"
ASMC-04B 180kg/cm - 0.5sec/60deg - $57 with "servo plate"
Jeff: https://github.com/jones2126/tractor_laptop_ROS_workspace/blob/master/project_support_files/embedded_programs/tractor_control_2022/src/main.cpp
Jeff: https://github.com/jones2126/ros1_lawn_tractor_ws/blob/master/project_notes/vehicle_dimensions_helper.ods
Jeff: https://groups.google.com/g/hbrobotics
Index:
00:00 Jeff: Gives a demo of his giant R/C servos moving and talks about them.
06:50 Terry: Talks a bout PID libraries for Arduino type boards.
Interrupts and volatile variables.
09:25 Al: Says he has a PID example in his github.
We post a link in chat to Al's code.
14:30 Al: Presents his "Vehicle Dimension Helper" file.
Foot Print definition. Talks about how to create the Foot Print.
We post a link in chat to Al's spreadsheet.
22:30 Al: Mentions a Zoom meeting he listened in on.
23:45 Talk about all the various file locations for numbers.
25:10 We track down Al's spreadsheet on his github.
35:10 We track down the files that have the PID code.
40:45 Mention of how remote control ties into this.
43:30 Jeff: Asks what this is used for. It is the steering control.
Some discussion which sensors are being used for steering.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat:
Jeff: Giant R/C servos ordered from Amazon
ASMC-04A 110kg/cm - 0.12sec/60deg - $53 with no "servo plate"
Jeff: Code change in odom.py to fix velocity:
Was
odom.child_frame_id = 'base_footprint'
odom.pose.pose = result.pose
# odom.twist.twist = result.twist
Now
odom.child_frame_id = 'base_footprint'
odom.pose.pose = result.pose
# odom.twist.twist = result.twist
x = float(result.twist.linear.x)
y = float(result.twist.linear.y)
odom.twist.twist.linear.x = float(sqrt(x ** 2 + y ** 2))
# odom.twist.twist.linear.z = float(atan2(y,x))
odom.twist.twist.angular.z = result.twist.angular.z
And you have to add this at the top somewhere:
from math import atan2, sqrt
Jeff: Thread on HBRC about logic analyzers:
https://groups.google.com/g/hbrobotics/c/vgeu9af-vUw/m/CtUhESNuCgAJ
A reference to the analyzers on eBay:
https://www.ebay.com/sch/i.html?_from=R40&_trksid=p2510209.m570.l1313&_nkw=USB-SALEAE-24M-8CH-Logic-Analyzer-24M-8-Channel-with-Buffer-Support&_sacat=0
Big selection from Amazon:
https://www.amazon.com/s?k=logic+analyzer&crid=1F5WHD0NPYMI5&sprefix=logic+%2Caps%2C151&ref=nb_sb_ss_ts-doa-p_10_6
Index:
00:00 Jeff: Gives a demo of his new fast giant R/C servos on his robot.
03:05 Jeff: Says he played with the simulator package to fix the speed.
Describes the problem and possible fix.
Demo coming up later.
06:45 Terry: Is working on his PID code.
Shows some logic analyzer plots.
Battery monitoring with A/D.
Starting with ROS.
Vacation plans.
11:30 Al: Random comments on code and PID.
12:15 Al: Skipped over the speed problems and is working with Move Base Flex and waypoints.
16:00 Al: Demo of what he is working on.
18:10 A question comes up about driving backwards.
22:10 More comments on purposely driving backwards.
24:40 Jeff: Gives an explanation for his changes.
29:30 Jeff: Starts a demo.
46:45 Al: Asks about Terry's logic analyzer.
Terry describes his USBee-SX.
57:50 Some discussion on the current Gazebo simulation model
and switching different models.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat:
Al: https://fritzing.org/
Jeff: https://fritzing.org/download/
Al: https://github.com/adafruit/Fritzing-Library/blob/master/parts/Adafruit%20ItsyBitsy%20M4.fzpz
Terry: https://www.reddit.com/r/MilwaukeeTool/comments/108d3j9/m18_fuel_battery_protocol/
Jeff: Set GPS to ideal to closer represent RTK: See note below...
Al: https://ieeexplore.ieee.org/document/8918671
Al: Path Planning for Mobile Robot using Dubins-curve based RRT Algorithm with Differential Constraints
https://github.com/FelicienC/RRT-Dubins
Jeff: The global Dubins-RRT planner I found:
https://github.com/jhan15/dubins_path_planning/
(Turns out this is not made for ROS)
Note: YouTube doesn't like the greater-than and less-than characters in the description.
So I deleted the URDF GPS noise changes from chat.
See the changes @43:00 in video.
Index:
00:00 Terry: Mentions his PID. He is loading ROS on a laptop.
He found more information on Milwaukee drill batteries.
He burned up his Itsy-Bitsy board.
02:00 Terry: Talks about power distribution.
He is using Eagle to create schematics for documentation.
04:30 Jeff: Suggests looking at Fritzing for creating wiring diagrams.
05:20 Terry: Found some information on the drill battery data protocol.
09:50 Al: Points out you can also create PC boards from Fritzing.
And prebuilt libraries are available.
10:45 Terry: Posts a link the drill battery on Redit.
11:10 Al: Talks about orientations in Gazebo and RVIZ.
15:30 Jeff: Questions sensor placement.
21:15 Al: Has a video of path following.
23:50 Al: Found an implementation for Pure Pursuit.
24:55 Al: Shows a small computer he found.
30:25 Al: Asks for suggestions on speed at weigh points.
Jeff suggests turning on odom markers when driving around in RVIZ.
30:55 Discussion on Pure Pursuit and where is has been used.
35:15 Discussion of speed at weight points.
41:05 Jeff: Talks about removing the "noise" from the simulated GPS.
49:55 Jeff: Mentions quality of messages from Gazebo.
52:50 More discussion about reverse engineering drill batteries.
56:20 Reminder that the method in ROS is not sacred.
You can replace the navigation stack completely.
You may not want to plan around obstacles.
57:45 Mention of dubins-RRT planner.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20211026.txt
Chat:
Path to Al's stuff.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/src/ackermann_vehicle/nodes/missions
Jeff: Path to saved workspaces on Google drive.
https://drive.google.com/drive/folders/1t2P2sfiranPe10fmUBUnnVvKNgrfybAV?usp=sharing
Al: Some reference to path name.
python script sub/pub
rospy.Subscriber('got_path', Float64, path_callback)
path_pub = rospy.Publisher('/drive_path', Path, queue_size=10)
https://drive.google.com/file/d/1oHgs4eQg1ZwQ_JoquGgf-rm78N-NoccJ/view?usp=share_link
Jeff: Link to YouTube video about using path_generator.py.
03052021 Lawn Tractor Meeting https://www.youtube.com/watch?v=F3ycvmWkUl8
Al: Instructions on using the path generator from above.
https://docs.google.com/document/d/17bPVy9IUBp3xqllMGpGTsoqm8cyIUm37bdLj_oB9NDE/edit
Jeff: Link to the F1tenth Pure Pursuit
https://github.com/f1tenth-dev/pure_pursuit
Index:
00:00 Al: Talks about his progress with path following. Shows a video.
Explains some code.
09:50 Jeff: Talks about path planning and suggests that MoveBaseFlex/TEBplanner may never give adequate results.
Mentions Pure Pursuit.
11:20 Jeff: Brings up Matt and Juan's Pure Pursuit experiments.
12:00 Jeff: Goes searching for Juan's original source code.
Found the Pure Pursuit package.
We look at:
Pure Pursuit
gps_heading.py
path_generator.py
path_publisher.py
22:40 Jeff: Incorrectly opens path_generator.py when he should have opened path_publisher.py.
But no one noticed...
24:25 Jeff: Tracks down the YouTube video where we were explaining some variation of path_generator.py.
28:50 Look at launch files.
34:50 We go back and look at Pure Pursuit code again.
39:40 Jeff: Goes looking for the Pure Pursuit code from last week.
43:15 Finally found the repository.
46:43 Finally found the Pure Pursuit controller code.
50:00 We go back and look at path_publisher from Juan's repository.
1:01:25 Al: Says is going to spend some time on his remote control.
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat:
Al: https://github.com/jones2126/lawn_tractor_embedded_code
Story about Alan's scooter project:
http://www.tcrobots.org/members/akili.htm#robot3
Search for "28 May 1999"
And note the phrase "Arghhhhhhhh. I look at the switch, and I can
see really pretty green explosions going on INSIDE the switch that
is lighting up all the way through the switch's plastic parts."
These old accounts of experiments are hillarious. That's why it was called "Robot Shop of Horrors"!
Al: Jeff, is this the package you used? http://wiki.ros.org/purepursuit_planner
Jeff:
== Matt's demo of his Pure Pursuit ==
Quick mention
Lawn Tractor Meeting 08232019 @56:00
https://youtu.be/zOgJNwGXBSg?t=3359
Lawn tractor meeting 11062020 @29:50
https://youtu.be/lq0xQs77Mmc?t=1787
Lawn Tractor Meeting-v4zdeQC9RCg @12:16
https://youtu.be/v4zdeQC9RCg?t=736
Index:
00:00 Terry: Got replacements for his Itsy-Bitsy board he blew out.
He talks about wiring and relays.
02:05 Mechanical relays or solid state relays? Story of abusing switches.
06:20 When do you have to worry about your robots killing people?
07:30 Terry is working on wiring.
07:45 Terry: Talks about drilling stainless steel. And next steps.
10;10 Jeff: Mentions the Milwaukee drill battery project.
12:55 Al: github - speed, physical implementation, tuning.
Organizing embedded software.
Remote control.
ESP32 communication.
16:25 Al: chatGPT
18:25 Terry: Asks where the 0.73 come from?
20:05 Differences between two-wheel differential drive and 4-wheel differential drive.
21:15 Jeff: Presentation on Pure Pursuit control. (For the next 1-1/2 hours)
Hacking of existing code.
36:00 Terry: Asks if you can also control external functions.
40:35 Running multiple planners in parallel.
41:30 Creating actual scenarios to create path planning methods.
43:55 Creating maps to represent the real world.
More description of Pure Pursuit.
53:55 Cross track error.
57:35 Starting in the proper location.
59:40 cmd_vel, ackermann_vel
1:02:05 Does Pure Pursuit currently control speed?
1:03:40 Demo time...
1:37:10 Running Pure Pursuit and Move Base at the same time.
1:42:55 Terry: Asks if rviz can plot the area covered by his snow plow.
1:45:10 Al: Asks what the launch file for Pure Pursuit looks like.
1:51:15 Jeff: Says this is how you fix the steering angle that he screwed up.
The comment is how to fix the "right_steering_joint",
but you also have to fix "left_steering_joint".
1:53:30 Al: Asks about "/got_path", Jeff says "throw it out".
1:56:40 Simulated vehicle vs. real vehicle.
1:57:40 ROS2 NAV2?
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat:
Al: https://chat.openai.com/chat
Index:
00:00 Terry: Is again having trouble drilling his stainless steel panel.
02:05 Terry: Wiring plans.
03:15 More about drilling stainless steel and tempered steel.
06:00 Al: Talks about his embedded code. ROS Serial.
10:20 Jeff: A quick way to show path coverage in RVIZ.
22:10 Jeff: Talks about cross track error.
29:00 Jeff: Talks about choosing a processor board (yet again). Wiring methods.
35:55 Jeff: Comments about using a Blue Pill board as an Arduino.
36:50 Using uart communication between low level boards.
43:25 Discussion about remote control.
===
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt (or newest file)
Chat:
Jeff: Ubuntu Mate 20.04 Raspberry Pi 3B
(This wasn't obvious, so I'm not going to make any recommendations.)
Al: Prebuilt Raspberry Pi image notes.
https://docs.google.com/document/d/1QFE9bjuWu2TFPzNrz0wPjaYWnLHPU8j6e5EXUDqmovQ/edit
Jeff: Ubiquity images : https://learn.ubiquityrobotics.com/noetic_pi_image_downloads
LinoRobot code: https://github.com/linorobot/linorobot/wiki
Presentation: https://www.youtube.com/watch?v=Hj7m2xwlhWY
Al: sample udev rules
https://github.com/jones2126/lawn_tractor_embedded_code/blob/main/05-serial.rules
Jeff: Linux command to show secrets...
dmesg OR dmesg --follow OR dmesg -w
Jeff: The quadrature decode example for STM32.
https://github.com/chrisalbertson/quadratureBluePill
Al: $65 Cortex M4 https://www.thanksbuyer.com/stm32-development-board-cortex-m4-small-system-board-stm32f429igt6-core-board-61091
Al: Roger Clark site https://www.rogerclark.net/
Jeff: Other Roger Clark / STM32duino links:
https://github.com/rogerclarkmelbourne
https://www.stm32duino.com/
https://github.com/stm32duino/Arduino_Core_STM32/wiki/Upload-methods#stm32cubeprogrammer
https://github.com/rogerclarkmelbourne/Arduino_STM32/wiki/Bootloader
Index:
00:00 Terry: Battery mounting. Wiring - switches, power convertors, fuse block.
02:10 Terry: Loading ROS on Raspberry Pi. Desktop vs. server.
Ubiquity image?
Lino Robot image?
Discussion on installing different images.
09:45 Terry: Talks about his ROS to microcontroller communication method.
ROS Serial or hand built protocol.
UART Vs. USB.
15:40 Terry: Wants some way to identify which port is plugged in.
We discuss udev rules.
23:55 Jeff: Talks more about serial interfaces.
29:00 Terry: Asks how to power the boards.
33:45 Back to serial discussion.
36:30 Terry: Asks which diode to use.
38:10 Jeff: Mentions bootloaders. Then talks about a quadrature decode example.
Will not compile on Windows.
Loaded Arduino and a STM32 core on Linux. That compiles.
Long story of loading drivers to get the STM32 ST Link module to work.
42:00 Jeff: Goes back to Windows machine to fix it. Replacing the STM32 core fixed it.
But ST Link module no longer works.
43:05 Jeff: "Now I can compile and upload under Arduino on Linux."
43:15 Jeff: Back to bootloaders.
46:00 Back to the quadrature story.
47:05 Back to bootloaders again.
50:50 The ultimate goal of total in-circuit programming.
51:25 Down the stm32duino rabbit hole.
56:20 Other than that, Jeff hasn't been doing anything,
except thinking about wiring up a physical board.
Can be compiled and programmed with either Arduino IDE or ST Micro IDE.
59:15 Al: Asks for confirmation that this is all figured out.
1:05:00 Jeff: Talks about difference between ROS Serial and hand built protocol.
1:14:40 Al: Goes over changes he is making.
Messages, servo resolution, mode switch, test driving, PID settings.
Next steps.
1:17:15 Al: Shows his current board and goes through code changes.
Changing from ESP32servo.h to ledc.h to improve servo resolution.
Other changes and description.
=====
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt (or newest file)
Chat:
Al: GitHub initial use instructions (rough) https://docs.google.com/document/d/1SSOxppbL0xE6TJTNi88JQj_6uKqhQ5eyVVkR58dwTBE/edit?usp=sharing
Index:
00:00 Al: Talks about speed control. Speed sensing, PID control.
03:20 Al: Playback of speed control testing.
06:25 Al: Shows the code he is using.
07:55 Al: Next steps.
08:25 Terry: Asks about one wheel sensor vs. two.
09:15 Al: Goes over how his encoders work.
12:45 Terry: Talks about his progress. Battery mounting, wiring,
15:25 Terry: Loading software on RPi and laptop.
16:00 Terry: Next steps. Battery monitoring, RPi to laptop communication, mount circuitry on robot.
VNC server on RPi. Start going through ROS tutorials.
19:30 Bump sensors and IR distance sensors.
21:40 A discussion about github.
25:15 Al: Shows a quick demo of VS Code integration with a github.
34:40 Jeff: Launches into to his experiments/progress on Blue Pill and Black Pill boards.
Blue Pill with Arduino and bootloader.
Differences in Arduino cores.
40:45 Gave up on DFU bootloader and switched to an HID bootloader that seems to work.
43:00 Trying to get encoder code to run.
44:55 Out of frustration, the Black Pill boards were ordered. Some description of Black Pill.
Differences between programming the Blue Pill and Black Pill boards.
47:50 Black Pill board will not run the encoder code from the Blue Pill.
49:00 Installed STM32CubeIDE to attack the problem a different way.
Figured out how to get the USB port to act like CDC serial port.
Encoder and USB working for STM32F103, but on STM32F401.
50:40 Assumption the clocks are wrong, played with clock configuration.
55:30 Encoder now working on Black Pill STM32F401. Comparison of usage and programming.
58:45 Standard Arduino function vs. non-standard functions.
59:30 What next?
1:00:00 Physical prototyping and development. Which peripherals is Arduino using?
What peripherals do I need to make my robot work?
1:08:00 Communication between low level controller and high level controller. ROS Serial?
1:08:55 Terry: Suggests adding limit to switches to steering (or whatever you are moving).
1:16:20 Al: Suggests monitoring current to detect a mechanical fault condition.
1:18:45 Al: Asks about setting programming mode on Black Pill board.
1:21:05 Al: Asks about using interrupts instead of I2C interface.
Some discussion of his magnetic absolute shaft encoder chip.
1:34:50 Discussion on transporting your vehicle to a testing location.
1:36:00 Comments on Terry's automated snow blower.
=====
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt (or newest file)
Chat:
None
Index:
00:00 Terry: Talks about a dead laptop. Loading a spare laptop.
04:30 Terry: Is documenting his plans/progress.
07:00 Jeff: Continuing saga of ST Micro processor boards. Probably giving up on Arduino for STM32.
The Arduino for STM32 has various problems that I can't figure out.
Bluepill (STM32F103), Blackpill (STM32F401), STM32F407VE, F4-Discovery (STM32F407VG).
11:50 Moving to STM32CubeIDE, libraries, USB.
13:45 Comments about using the A/D inputs.
14:10 Comments about encoders and other timers.
15:00 Giving up on Arduino IDE.
15:20 Setting the clock speed the same across boards to allow cut and paste between projects.
16:00 Testing and verifying the 3 "extra" timers.
16:20 Showing a couple of encoders used for testing.
18:10 Prototyping methods.
19:25 UARTs for remote control and debug.
20:25 Configuring the processor. Peripherals vs. pins.
21:15 Adding the LORA radio board.
22:00 Al: Asks which board will be used. Size vs. pins vs. peripherals vs. pin configuration.
24:20 Al: Asks about encoders.
25:20 Header pins.
27:00 Al: Shows his status. He is working on wheel odometry. Problems with IMU.
29:10 Terry: About heading vs. Yaw vs. rotational rate. More on Al's code.
34:40 ROSSerial.
38:30 Jeff: More comments about analog inputs on ST Micro parts.
40:50 Al: Shows how he tracks his pins.
42:35 Pin remapping on modern processors. One more advantage/headache.
=====
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt (or newest file)
Chat:
Jeff: SerialTransfer for Arduino communications: https://github.com/PowerBroker2/SerialTransfer
Index:
00:00 Jeff: Continuing saga of ST Micro processor boards.
Bluepill (STM32F103), Blackpill (STM32F401), STM32F407VE, F4-Discovery (STM32F407VG).
Overall description of pros and cons.
Shows the dual processor master/slave prototype.
10:20 Al: Asks about the visualizer software that was posted to slack.
11:25 Al: Talks about implementing wheel odometry.
14:50 Jeff: Mentions difference between "real" wheel odometry and what Gazebo is providing.
17:55 Terry: Suggests periodically "syncing" the wheel odometry to the GPS.
24:05 Jeff: Mentions that Ros Serial also works on the Blue Pill board.
And that you could use something different from a Blue Pill board as your master processor.
SerialTransfer can use UART or I2C or SPI for a connection.
26:00 Terry: Talks about loading Ubuntu on laptops.
Future plans.
33:15 Mention of zones and speeds.
35:35 Enabling VNC.
37:30 Jeff: Asks about the steps Terry used when loading Ubuntu.
Discussion of Terry's several computers. Jeff is confused about Terry's Windows computer.
Laptop memory.
==
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt (or newest file)
Chat:
Al: https://www.amazon.com/gp/product/B07DW646GY/ref=ppx_yo_dt_b_search_asin_title?ie=UTF8&psc=1
Al: https://frame.work/products/laptop-diy-12-gen-intel
Index:
00:00 Jeff: Continuing saga of ST Micro processor boards.
Talks about powering boards from either USB or externally, or both.
USB hub vs. hacking USB cables.
Modular design.
Physical relays vs. solid state relays for eStop circuit.
13:10 Al: Asks what the extra lines were on the diagrams.
Which USB hub to use?
17:00 Terry: Laptop stories.
Buying a new laptop.
23:55 Terry: Is working with the tutorials and writing new code.
25:10 Terry: Currently: VNC, prototyping, ROS on RPi.
25:40 Al: Asks about Terry's code experiments.
27:55 Al: Posts a link to configuring/building laptops and a link to a USB hub.
28:55 Al: Talks about odometry/location progress.
34:40 Al: Ordered two of the Black Pill F411 boards.
STM32 bootloaders.
40:20 Al: Asks Jeff where he got his LORA boards.
==
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt (or newest file)
Chat:
Al: https://www.uugear.com/product/7-port-usb-hub-for-raspberry-pi/
Jeff: https://abra-electronics.com/robotics-embedded-electronics/arm-development/stm32f411ceu6.html
Jeff: https://docs.zephyrproject.org/3.1.0/boards/arm/blackpill_f411ce/doc/index.html
Al:
STM32F411CEU6 core board V3.0
Freq. 100MHZ ROM:512KB RAM:128KB
Jeff: https://stm32-base.org/boards/STM32F401CEU6-WeAct-Black-Pill-V3.0.html
Jeff: https://stm32-base.org/boards/
Index:
00:00 Terry: Goes over progress learning TurtleSim and writing code to drive it.
04:50 Al: Shows his wheel odom and GPS odom test results.
09:40 Al: Talks about his Pure Pursuit experiments on a simulator.
13:20 Al: Issues with git.
14:20 Al: What's next.
14:40 Jeff: Talks about his project powering multiple Adruino-type boards.
21:00 Jeff: Says his snow is gone so he could start playing with his lawn tractor again.
22:35 Jeff: Mentions the variations of cmd_vel, modified cmd_vel, ackermann_cmd_stamped, and ackermann_cmd.
36:15 Al: Shows his USB hub.
38:25 Al: Talks about his new Black Pill F411 boards. (For rest of meeting)
==
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt (or newest file)
Chat:
None
Index:
00:00 Jeff: Random updates.
Cell modem doesn't work. 3G vs. 4G?
Screwed up his cell phone during debug.
Various alternate methods of transferring correction data.
03:00 Jeff: New fiber optic Internet (that isn't hooked up yet).
04:25 Al: Has a list of things he is doing.
Pure Pursuit, vehicle speed.
Status lights.
IMU problems.
Black Pill won't program.
Ideas for organizing a GPS base station.
07:25 Al: Shows some plots.
11:35 Jeff: Asks about turning radius.
17:55 Al: Now has a mysterious offset when he starts up.
19:10 Al: Talks about his status LEDs.
21:20 Al: Safety features.
23:55 Al: Ardusimple survey package. (As an example)
26:05 Discussion about programming a Black Pill board.
30:15 Al: Next steps.
31:25 Jeff: Asks about Al's IMU.
37:50 git problems. Back to the problem.
39:30 More analysis of plots.
==
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt (or newest file)
Chat:
None
Index:
00:00 Jeff: Cell modem account cancelled. Now what?
02:50 Terry: Has another dead Unbuntu install.
Need backup?
07:30 Jeff: Asks about updates on using drill batteries.
08:15 Al: Talks about his giant R/C servo for transmission control.
Shows pictures of his servo arm.
Shows graph of speeds.
17:00 Jeff: Asks about GPS speeds vs. wheel speeds.
Calculated angular rotation vs. rotation directly from IMU.
Mounting plate that came with Super Servo.
23:25 Removing the spring from inside of the transmission.
25:40 Jeff: Asks about Al's big tractor.
26:00 Software speed control loop fighting the engine governor speed control loop.
32:00 We start looking at actual data from odometry and IMU.
38:20 Quaternions in Plot Juggler. And custom series.
==
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat:
Al: Something to share
https://github.com/yoneken/rosserial_stm32 # might be useful if trying to use STM32 board
http://wormfood.net/avrbaudcalc.php
https://github.com/ClemensElflein/open_mower_ros
https://wiki.openmower.de/index.php?title=FAQ#What_is_OpenMower?
http://wiki.ros.org/wit-imu-driver
https://wiki.openmower.de/index.php?title=FAQ#Who_created_OpenMower?
https://github.com/Inspur-ROS/WIT-IMU
https://allentown.craigslist.org/grd/d/macungie-craftsman-trac-drive/7606249290.html
ESP-NOW
https://www.youtube.com/watch?v=bEKjCDDUPaU (DroneRobot Workshop)
https://www.youtube.com/watch?v=6NsBN42B80Q (Andrea Spiess)
https://www.youtube.com/watch?v=oz0a7Ur7nko (packet loss analysis)
Robo Tank https://github.com/SensorsIot/RoboTank
Index:
00:00 Terry: Updates on laptops and software experiments.
02:20 Jeff: Talks about telemetry radios.
14:30 Also have LORA and WiFi to try instead.
15:00 Maybe make a GPS base station.
16:45 Jeff: Pulled an EarthWise reel type push mower out of the trash.
20:15 Al: Talks about sending parameters to his vehicle microcontroller.
22:20 Al: Talks about different versions of ROS-Serial he has tried.
27:15 Al: Safety switches. (Stopping on loss of signal)
32:20 Al: Interesting links to share.
37:00 Al: Next steps - Pure Pursuit and velocities.
39:40 Jeff: We need to create a list to modify on the "standard" Pure Pursuit package.
==
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat:
None
Index:
00:00 Terry: Discusses his laptops. Dual boot, replacing hard drives, external hard drives.
06:30 Jeff: Adding old scrap lawn mowers to the Sammy2 mini-tractor.
09:15 Jeff: Talks about his telemetry radio experiments.
14:00 Al: Talks about ground plots.
15:35 Al: Radio problems. Blocking calls affecting loop rate.
28:30 Jeff: Breaks in with urgent news...
28:45 Jeff: Makes comments on the ground plots from earlier in this video.
33:15 Al: Shows some connectors and asks for some advice.
==
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat:
Command to fetch correction data and send it to the radio.
str2str -in ntrip://'USERID':'PASSWORD'@mncors.dot.state.mn.us:9000/'RTCM_32_NAD83(2011)'#rtcm3 -out serial://ttyUSB0:57600 -p 45.01249983 -93.24395717 235 -t 0 -n 1000
Command to fetch correction data and save it to a file
str2str -in ntrip://'USERID':'PASSWORD'@mncors.dot.state.mn.us:9000/'RTCM_32_NAD83(2011)'#rtcm3 -out file://rtcm3.bin -p 45.01249983 -93.24395717 235 -t 0 -n 1000
Command to convert correction data to a readable format.
convbin usb1.bin -r rtcm3
Index:
00:00 Jeff: Talks about his telemetry radio experiments.
Verifying data. Logging with Putty or writing to file using RTKlib str2str tool.
Shows wiring and explains connections.
Explanation of more experiments.
32:15 Thoughts on range checking.
35:10 Terry: Asks about correction data reliability.
39:00 Jeff: Shows the two types of radios that he has.
42:55 Jeff: Mentions also trying to get cell phone to provide correction data.
47:55 Terry: Talks about laptops. And he has another new laptop.
54:20 Al: Talks about his LORA radios.
59:00 Discussion of loop rates and stopping distance.
1:01:00 Another discussion about stopping distance.
Some final comments about safety.
==
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat:
The new Ardusimple GNSS Master cell phone app.
https://www.ardusimple.com/introducing-gnss-master-app/
Index:
00:00 Jeff: Got his cell phone to provide RTK correction data for the F9P GNSS receiver.
08:50 Terry: Talks about laptops. And here is going next. And the Linux history command.
11:40 Al: Talks about his LORA radios. Println vs. ROS Serial.
18:20 Discussion about sending messages both directions.
27:00 Al: Has another dead laptop.
27:30 Mentions of Linux swap file size.
29:00 Al: Mentions "ESP Now" for communications.
32:35 Jeff: Asks about Al's previous experiments.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat:
None
Index:
00:00 Jeff: Quick mention of the cell phone CORS RTK correction data.
01:00 Jeff: Yes, after all this time, the Sammy2 robot still moves... And next steps.
02:00 Jeff: Steering calibration, yet again.
Doing everything from remote control box and not using ROS command line.
Rotational velocity vs. steering angle for control.
09:00 Using the switches on the remote for other control situations.
12:00 Using the switches to specify a path to be run.
15:50 Or, if running a navigation stack, have it post preprogrammed nav goals.
More random discussion about procedures and remote control modifications.
38:00 Al: Status and ToDo list. LORA radio libraries.
Some description of how his code works.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat:
Jeff: Examples of driving big motors from R/C signals.
Using R/C servo
https://www.youtube.com/watch?v=bURsvNdro4o
Using Arduino
https://www.youtube.com/watch?v=3pYWLF8qw-g
Driver boards from videos:
https://www.amazon.com/Driver-Channel-Current-Stepper-Controls/dp/B0C6JZFQP8
https://www.amazon.com/BTS7960-H-bridge-Double-Current-Diagnostic/dp/B09W8VV6RH
Index:
00:00 Jeff: Possibly convert big (power steering) motors into R/C servos.
19:20 Jeff: Ponders running your vehicle steering in parallel with a simulator.
27:25 Al: Says he may modify his firmware just to listen to cmd_vel for this test.
27:45 Al: Explains his current control architecture.
30:25 ROS Serial vs. custom serial.
31:10 Diagrams of Al's control system.
44:15 Visio vs. Freeform vs. hand drawn
47:00 Al: No GPS, udev rules, communications.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat:
None
Index:
00:00 Terry: Gives quick update on his status.
00:35 Jeff: Makes comments about his attempts to convert a power steering motor to R/C control.
06:40 Jeff: Shows some AS5600 magnetic shaft encoders from Amazon.
Monitor carburetor throttle plate, for example.
12:20 Al: Gives update on his path following experiments.
Comments about his transmission not maintaining constant speed.
25:00 Jeff: Mentions providing a valid path that Pure Pursuit expects.
25:50 Jeff: cmd_vel vs. ackermann_cmd.
39:20 Jeff: Makes comments on the difference between rotational velocity and steer angle.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat:
None
Index:
00:00 Jeff: Says he hasn't gotten anything done. (comments about making power steering motor into R/C servo)
01:00 Terry: Also says he hasn't gotten anything done either.
01:20 Al: Shows his giant R/C servo he built from scratch.
03:10 Al: Shows a new giant R/C servo (Model DH-03x). And a 3D printed mounting bracket.
04:40 Terry: Asks Al about making counter sunk (beveled?) holes with the 3D printer.
06:10 Jeff: Says the DH-03x servo is the same one he used on his Sammy2 Mini-tractor for steering.
07:15 Jeff: Adds more info about the "giant servos".
12:00 Jeff: Mentions a YouTube video he just watched:
https://www.youtube.com/watch?v=0nhxqqtfhoc
Here is another one:
https://www.youtube.com/watch?v=bRsKDwj_J3o
16:05 Jeff: Asks about Al's numbers for steer angle vs. rotational velocity.
16:30 Comments about using a small(ish) robot to do something useful.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat:
Jash: remoteteleop.com
Bob's strawberry farm from about 20 years ago: http://sampson-jeff.com/rsoh/010617/
Software for robot arms: https://moveit.ros.org/
Al: https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master
Index:
00:00 Jeff: Explains why we didn't have meetings.
01:00 Jeff: Talks about the state of his software and ways to fix it.
05:50 Jash: Joins the meeting. He introduces himself and his project.
07:00 Jeff, Al and Bob give short description on their projects.
13:10 Jash and Bob discuss strawberries. And other applications.
17:50 Jash: Posts a link to his project.
19:00 General discussion of operator assisted autonomous agriculture vehicles.
20:40 Short discussion about Internet connectivity in a typical farm field.
27:45 Short discussion of public disclosure about projects.
30:00 How do you test/train a remote operator.
32:30 Jeff: Gives a brief description of his "Sammy2" mini-tractor.
37:00 ROS1 vs. ROS2.
39:40 Jash: Asks if the Lawn Tractor Automation group has a documentation repository.
Al: Posts a link to his github.
Some talk about the video indexes and the way Slack and Zoom work.
51:00 Al: Gives a status update. Talks about his R/C servo for his hydrostatic transmission.
54:00 Al: Talks about publishing topics in a format that Plot Juggler will recognize.
54:50 Jeff: States that you should take advantage of "ros bags", if you are not already doing that.
56:50 Al: Makes comments about finding things in his github.
1:00:00 Bob talks about his tractor and control systems.
1:17:40 Jeff: Asks about Al's new giant R/C servo. Comments about buffering the feedback signal.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat:
Al: https://miro.com/app/board/uXjVM1yzdFo=/?share_link_id=539014993193
Index:
00:00 Jeff: Hasn't done anything.
00:20 Al: Publishing topics as arrays.
Miro white board.
Testing, changing steering parameters.
03:10 Al: Posts a link to his white board. Shows a few details.
09:50 Al: Has a clever way to measure wheel steer angle. And how he uses those numbers.
12:50 Difference between rotational velocity and steer angle.
16:45 Al: Talks about his LORA timeouts.
Some analysis of steering control.
32:00 Jeff: Suggests controlling the steering velocity.
40:40 Jeff: Talks about low level limit checking.
52:50 Jeff: The dividing line of control between ROS and your vehicle.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat:
Al: https://miro.com/app/board/uXjVM1yzdFo=/?share_link_id=10226424350
Al: https://github.com/jones2126/ros1_lawn_tractor_ws/blob/master/src/ackermann_vehicle/nodes/odom_from_wheel_and_gps.py
Al: How did you plot it out in degrees instead of radians?
Index:
00:00 Jeff: Talks about Al's current experiments (Pure Pursuit) and shows plots.
33:30 Jeff: Suggests analyzing control inputs to Pure Pursuit controller.
34:50 Some discussion of where heading is coming in both cases.
39:20 Al: Goes over some issues.
49:50 Tips/Hints when running PlotJuggler.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat:
Al's Miro: https://miro.com/app/board/uXjVM1yzdFo=/?share_link_id=10226424350
Video where we talked about creating paths with the Dubins path planner tool.
03052021 Lawn Tractor Meeting https://www.youtube.com/watch?v=F3ycvmWkUl8
If you have access to the Google Drive folders...
Jeff: Random scripts https://drive.google.com/drive/folders/1ZMUC3L8v2PiuP4K4nJRjU3QYYqJ0b65F
I can't get a direct link to gps_heading_new.py. Just click on it...
Index:
00:00 Al: Starts status update. Talks about his Miro white board.
04:55 Al: Talks about his field testing results.
11:30 Jeff: Suggests the error cause might be cumulative.
17:35 Jeff: Asks where the GPS heading in Miro came from.
Some confusion about the GPS predefined COG (Course Over Ground)
and Al doing his own calculations and calling it COG.
20:45 Jeff: Mentions deriving SPEED and HEADING from the gps/vel topic.
See link to scripts on Google drive (in chat section above).
24:00 Jeff: Suggests specific tests on a single vertical line pattern.
30:00 Jeff: Asks about Al's process for deriving GPS heading.
Al pulls up Plot Juggler.
38:50 We go over how Al calculated what he is calling COG vs.
"Real" COG that is provided directly in a GPS NMEA sentence.
41:30 Jeff: Attempts to do fancy math corrections in Plot Juggler, but fails.
48:20 We go look at Jeff's code to convert /vel topic back to speed and heading.
1:04:30 Question if Al is saving raw NMEA sentences.
1:07:25 Jeff: Starts playing around with Zoom settings and talks about bandwidth.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat:
https://f1tenth.org/
Al's Miro page: https://miro.com/app/board/uXjVM1yzdFo=/?share_link_id=10226424350
Index:
00:00 Jeff: Says he finally got his fiber Internet connected.
Says he should be installing a laptop back on his robot.
Suggests doing creative things with the simulator for Al's project.
00:50 Al: Talks about his experiments to solve his "wavy" path.
01:50 Al: Mentions his GPS remapping code. Ideas for fixing the path.
04:20 Al: Is the GPS accurate? Steering?
06:30 The original Pure Pursuit paper from 1992.
07:10 Jeff: Asks if Al has tried driving manually around the path.
09:45 Jeff: What are the inputs to Pure Pursuit?
11:10 Al has compared his Pure Pursuit code to Juan's code and the original code.
11:40 The F1TENTH project.
13:10 We look at Al's Miro page.
15:40 Extra plotting values for debug.
17:05 We go look at GPS values in the bag files.
36:45 Jeff: Says he will try harder to get his robot running again.
38:00 Jeff: Asks about cell phone viruses.
42:00 Jeff: Again mentions trying to break the simulator for testing purposes.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat:
Al: https://drive.google.com/drive/folders/1nos6IM9X7Go81RT0_Dm4SR7izqPRxe90
Index:
00:00 Jeff: Updates - Says he is going through the steps to run his robot outside.
GPS correction data, marked points in yard, move path to the robot computer.
03:35 Jeff: Has given some thought to simulator changes.
07:00 Jeff: Thoughts on documenting the simulator package we have.
08:40 Jeff: Tells about old guys mowing the yard.
09:30 Al: Tells us where he is in his development journey.
We look at some plots, comparing actual vs. simulation.
18:40 Al: Shows his program that graphs the the Pure Pursuit values.
30:00 We are discussing how Off-Track-Error is calculated.
40:00 We are now trying to interpret what the transform between base_link and lookahead actually represents.
55:40 Jeff: Warns that not all functions in ROS treat quaterion order as x,y,z,w.
He has seen a function or two that use the order w,x,y,z. (Or maybe it is ROS vs. non-ROS functions.)
So that is something to watch out for.
1:04:40 Jeff: Suggests plotting the base_link to lookahead transform.
1:09:00 We finally get around to starting Plot Juggler.
We get a plot of simulated data showing that base_link to lookahead transform is a difference between the two points.
Much analysis ensues.
1:18:40 We now go look at data from the physical lawn tractor.
Much confusion because the screen dump wasn't saved at time 0.
1:24:15 "Oh, there's yer problem!" We noticed the scale at the bottom is wrong.
We re-plot and screen dump.
We do more analysis before moving on to the non-simulated data.
1:32:30 We switch to the non-simulated data.
We move the vehicle to the point where RTK kicks in.
Much analysis as the vehicle approaches the initial path point.
1:41:55 Jeff: Asks if Al has verified if the vehicle is doing what he asks.
1:45:30 Jeff: Asks if the wheels are actually wandering back and forth when going straight.
1:48:10 Jeff: Asks about plotting real time data in Plot Juggler.
1:49:55 Jeff: Asks where Al's bag files are stored.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat:
Jeff: https://www.ardusimple.com/introducing-gnss-master-app/
Jeff: http://lefebure.com/software/android-ntripclient/
Jeff: https://rtklibexplorer.wordpress.com/2016/09/08/adding-a-radio-link/
Jeff: AT commands for the telemetry radios.
https://ardupilot.org/copter/docs/common-3dr-radio-advanced-configuration-and-technical-information.html
Index:
00:00 Jeff: Current quest for GPS correction data.
Cell phone method doesn't work.
Other cell phone options.
04:20 Jeff: Telemetry radios with RTKlib ntrip utility.
Power problems. (And fixed.)
Baud rates.
07:00 Jeff: ESP32-CAM board.
09:00 Jeff: Or just use the laptop computer directly.
09:20 Jeff: Tweaking software to make this work.
Static heading from second GPS.
12:30 Jeff: Maybe make sure BNO055 heading is also valid as a backup.
13:00 Jeff: Actual testing stories.
A quick hack to always take forward speed from joystick.
14:40 Al: Asks about the AT commands for the radios.
(Jeff eventually posts a link in chat.)
15:30 Bob: Asks what GPS hardware is being used.
16:55 Al: Asks about the joystick speed control hack.
18:05 Bob: Asks about using free public correction data as opposed to creating a base station.
20:20 Al: Asks about viewing correction data that has been received at the GPS.
23:45 Bob: Asks for a description of Al's GPS base station.
27:10 It is suggested to search the the index (for both Lawn Tractor Automation and ROS Agriculture)
and find Al's previous base station presentations.
The links are in the description below,
Discussion about using cheap non-RTK receivers.
33:30 We talk about the mower bot article.
40:10 LORA vs. Telemetry radios.
43:00 Al: Gives his update. Talks about Pure Pursuit.
48:45 We talk about creating location marks in your yard.
Or using existing lines in parking lots.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat:
None
Index:
00:00 Jeff: Quick story about telemetry radio range test.
01:30 Jeff: Cell phone correction data testing.
02:20 Jeff: Outdoor test results. (Physical vehicle)
08:30 Jeff: These are the same results in RVIZ.
11:10 Jeff: Results from simulated vehicle.
14:40 Jeff: Switch to Al's Pure Pursuit code.
15:40 Jeff: Switch from gazebo_odom.py to gps_odom.py.
21:35 Jeff: Reiterates that switching the simulator to its GPS output may make things clear.
23:30 Jeff: Still need to experiment to see which heading to use from the simulator.
25:00 Al: Asks Bob to go ahead. Bob talks about his Barbie Jeep.
Adding extra traction strips to the plastic wheels.
30:30 We attempt to look at Bob's pictures.
41:10 Al: Shows an adapter he made for a Barbie motor for his tractor steering.
43:45 Al: Shows a GPS accuracy plot.
45:10 Al: Shows an outdoor vehicle plot. And explains a problem.
49:45 Jeff: Asks about bad/intermittent connections with USB connectors.
55:50 Jeff: Mentions GPS drop-outs.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat:
https://miro.com/app/board/uXjVM1yzdFo=/?share_link_id=10226424350
https://github.com/jones2126/
https://github.com/jones2126/ros1_lawn_tractor_ws/blob/master/src/ackermann_vehicle/nodes/odom_from_wheel_and_gps.py
Index:
00:00 Al: Shows some plots from his path following experiments.
02:00 Al: Talks about testing various lat/lon to x/y programs.
06:40 Jeff: Talks about experiments with Pure Pursuit.
Differences between location on the simulator and the real world.
11:00 Jeff: Suggests making a video of this debugging process.
12:30 Jeff: Lookahead transform jumps around when played back on RVIZ.
Some description of how the code works.
23:45 Jeff: Discusses his multiple sources of heading info. And compatibility,
27:20 Jeff: Dealing with different data types for heading info.
31:30 Jeff: Single GPS heading vs. dual GPS heading (just an observation).
32:55 Jeff: A comment about trusting static heading from dual GPS.
33:40 Jeff: Summation of current status and where to go from here.
34:00 Al: Shares some info from his Miro white board. And the data that he collects.
35:30 Al: Mentions a new IMU board he was notified about. (Sparkfun BNO086)
36:40 Jeff: Suggests adding a second IMU to compliment the first one.
41:20 Jeff: Asks how Al created the pose values that he published with his augmented code.
46:50 Where is the source code for TransformToBaselink?
55:15 Parting thoughts. (YouTube maintenance)
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat:
https://miro.com/app/board/uXjVM1yzdFo=/?share_link_id=10226424350
https://github.com/jones2126/
Regulated Pure Pursuit https://arxiv.org/pdf/2305.20026.pdf
Index:
00:00 Jeff: Comments and thoughts on Pure Pursuit.
04:30 We exchange ideas on speed control. And transforms.
13:00 Al: Status update. We look at notes on his Miro board.
Some plots from a couple of simulated tests.
29:30 Al: Mentions reference to Regulated Pure Pursuit (used in ROS2).
31:20 Jeff: Mentions how to fix what Slack just forced on us.
34:25 Next testing steps.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat:
https://miro.com/app/board/uXjVM1yzdFo=/?share_link_id=10226424350
https://github.com/jones2126/
Al's lawn tractor video. https://youtu.be/R6Qf-qMG5DY
Index:
00:00 Jeff: Comments and thoughts on Pure Pursuit. Simulator vs. real vehicle.
Affects of GPS update rate.
03:00 Jeff: Steering speed.
Simulator results from changing steering rate.
10:55 Jeff: Why slowing down GPS update rates affects the path.
14:00 Jeff: I'm still confused why it works better on the simulator than with a real vehicle.
16:40 Jeff: Summary of changes that may help.
22:30 Jeff: Another summary.
22:50 Jeff: Bite the bullet and run Robot Localization.
24:35 Jeff: Quick hacks to increase GPS update rates.
26:55 Jeff: Praise for the simulator.
38:10 Al: Notes and examples from his Miro Board. Speeds and resolutions.
45:10 Al: Mentions his latest video.
45:30 Al: Next steps.
46:25 Al: Asks how to get position values on Plot Juggler.
49:00 Al: Wants to create a coverage plot for testing.
GPS rates.
Adaptive look-ahead in Pure Pursuit.
50:45 Jeff: Comments on Al's latest video. (I will upload it to YouTube and add a link in chat.)
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/?share_link_id=10226424350
Al's github: https://github.com/jones2126/
A video of Pure Pursuit on a simulated vehicle in RVIZ:
https://youtu.be/teJGOXcylVI
A video of Pure Pursuit on my physical vehicle in RVIZ:
https://youtu.be/HVeilflPQX8
Original Pure Pursuit description paper:
https://www.ri.cmu.edu/pub_files/pub3/coulter_r_craig_1992_1/coulter_r_craig_1992_1.pdf
An expanded analysis of the 1992 paper:
https://vinesmsuic.github.io/robotics-purepersuit/
A repo where they have removed the KDL library:
It adds rotate in place, deleted KDL, the calc loop runs from a timer instead of odom callback.
https://github.com/howde-robotics/pure_pursuit
https://github.com/larics/pure_pursuit/compare/master...howde-robotics:pure_pursuit:master
A repo with Adaptive Lookahead experiments. But they removed the Ackermann output:
https://github.com/6RiverSystems/pure_pursuit
The video on GPS Jump Detection:
https://www.youtube.com/watch?v=XkOkvx9N6r8
Index:
00:00 Jeff: Comments and thoughts on Pure Pursuit. Simulator vs. real vehicle.
04:40 Jeff: Video of a simulated vehicle in RVIZ.
09:40 Jeff: Video of an actual vehicle in RVIZ.
22:50 Short discussion of Larics Pure Pursuit code. And other versions.
28:15 Jeff: Forks of the Larics Pure Pursuit repository.
37:00 Al: Digs through some code.
42:40 Jeff: Frustrations with github.
45:25 Al: Talks about his path planning experiments.
51:25 Al: A video on GPS Jump Detection.
52:05 Al: Notes from his Miro board.
55:15 Jeff: Says he should run one of Al's bagfiles through RVIZ.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Links to Pure Pursuit githubs that were discussed.
https://github.com/larics/pure_pursuit
https://github.com/howde-robotics/pure_pursuit
https://github.com/6RiverSystems/pure_pursuit
https://github.com/f1tenth-dev/pure_pursuit
https://mowito-navstack.readthedocs.io/en/latest/config_pp.html
https://github.com/arimb/PurePursuit
https://github.com/raphaelkba/pure_pursuit/blob/master/src/pure_pursuit_planner.cpp
Index:
00:00 Jeff: Is testing the Pure Pursuit code from Howde-Robotics.
04:30 Jeff: Describes some steps to get the Howde-Robotics code to run.
06:15 Jeff: Removing the rest of the KDL code. Now figure out how it works.
07:10 Jeff: Difference between odom trigger and timer trigger.
07:50 Jeff: Adaptive lookahead and velocity control.
08:50 Jeff: Pure Pursuit code from 6RiverSystems.
09:50 Jeff: Revisit last week's complaints about using github.
26:10 Jeff: What's next?
27:15 Jeff: More comments about "rotate in place".
31:55 Al: Shows his Miro board, path planning and links.
33:55 Al: Results of testing paths.
36:45 Al: Adaptive speed and lookahead distance.
41:15 Al: The problem with the configuration program not running.
51:05 Al: Talks about adding throttle control to his lawn tractor engine.
58:10 Al: Again asks about references to Adaptive Lookahead and Speed control.
1:03:00 Jeff: Talks about the audio settings on Zoom.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Pure Pursuit code:
https://github.com/jones2126/ros1_lawn_tractor_ws/blob/master/src/pure_pursuit/src/pure_pursuit.cpp
Al's current bagfiles:
https://drive.google.com/drive/folders/1qbbjFHqPQJPcxEXKm8okCXo87eeH0TLW
Top level directory on Google Drive:
https://drive.google.com/drive/folders/1eOakFydReiihAvkAY_bPpzF-xGEUHlpZ
Al: GitHub for Python Pure Pursuit (non ROS):
https://github.com/AtsushiSakai/PythonRobotics/blob/35f4f61e44ad9c3f8fc6584e3d0d7ab7889bd866/PathTracking/pure_pursuit/pure_pursuit.py
Al: F1Tenth Pure Pursuit:
https://github.com/f1tenth-dev/pure_pursuit
Index:
00:00 Jeff: Is testing the Pure Pursuit code from Howde-Robotics.
01:35 Jeff: Does the cmd_vel output work better than the Ackermann output?
02:45 Jeff: Maybe just drive to the target point based on angle.
05:10 Jeff: Output the actual heading derived from the odom heading.
Which pointed out a problem.
16:45 Jeff: Summary.
14:50 Al: Asks which of those 3 heading lines are actually used for steering.
19:15 Al: Shows his path experiments. Simulation vs. actual.
22:50 Al: Has changed the way he reads a path.
He can now specify a speed and lookahead for each path segment.
26:55 Al: Is tweaking his speed value lookup table.
27:35 Al: Added more display points to the path visualization in the path generator program.
29:00 Al: Bagfile location.
32:00 Al: Posts a link to his top level Google Drive.
32:50 Jeff: Explains his hesitation to hand over code.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al: Link to Greenzie video on GPS:
https://www.youtube.com/watch?v=XkOkvx9N6r8&t=1s
Al: Link to Weekly Robotics:
https://www.weeklyrobotics.com/
Jeff: From Weekly Robotics:
https://discourse.ros.org/t/rosbag-tools-a-ros-agnostic-toolbox-for-common-rosbag-operations/34035?utm_source=weekly_robotics&utm_medium=newsletter&utm_campaign=weekly-robotics-269
Al: World's first millimeter-wave RFID tag to improve drone navigation accuracy
https://www.youtube.com/watch?v=7SezvxK_vrY&t=1
Index:
00:00 Jeff: Revisits last meeting about "drive to point" for Pure Pursuit (PP),
02:30 Jeff: Screen capture of first outdoor test.
05:55 Jeff: Why suspect steering speed?
09:30 Jeff: How can I get faster steering rate (vs. forward speed)?
11:15 Jeff: Screen capture of my code driving slowly.
11:15 Jeff: Screen capture of original PP code driving slowly.
24:40 Jeff: A video of the rviz screen while driving.
This turned out to be the original PP results instead of my code, which I was claiming.
34:00 Jeff: Back to the question: How do I speed up the steering rate?
36:15 Al: Asks what the new code looks like.
38:00 Jeff: What it will take to fix it right.
And Al's steering on his vehicle.
42:30 Al: Talks about new menus for testing.
49:55 Jeff: Asks why Al's GPS is in a different location each time.
Discussion of GPS base station configuration and start up procedure.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Index:
00:00 Jeff: Recounts Pure Pursuit experiments.
Driving slowly.
Increasing servo voltage.
Attempt to average steering angle command.
Compare steering request to steering feedback value.
Story of higher voltage on main motor causing problems.
When current sensing was added to main motor and the R/C servo.
Analyzing the current of the servo as it moves.
15:30 Plots indicate that averaging of the steering request may help.
I probably screwed up the averaging code.
18:40 To-Do list.
19:40 Al: Asks if the actual steering rate is known.
21:15 Al: Asks about electrical noise effects on the USB system.
25:00 Al: Asks if the forward speed is known. I.e., what works and what doesn't.
27:40 Jeff: More To-Do items.
30:50 Al: Is moving to a larger test yard.
32:20 Al: Steps for start-up.
33:20 Al: Example of his USB problem.
34:45 Al: Setup for new location.
38:15 Maps and backgrounds.
41:15 Al: List of things to take along.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation group:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
Index for the original ROS Agriculture group (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Original text based ROS Lawn Tractor Zoom meeting index file
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
The new HTML based ROS Lawn Tractor Zoom meeting index file
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
The precision mule mapping software
https://deepsouthrobotics.com/2019/07/10/meet-precision-mule/
Index:
00:00 Jeff: Talks about converting his text based index file to HTML.
18:30 Jeff: Talks about displaying the export files from Slack.
31:00 Al: Wrote a logging script for his laptop.
34:35 Al: Comments on github.
34:55 Al: Is working on perimeter mapping for his path planning.
38:25 Al: Shows a Google Maps based mapping editor. (precision mule)
40:25 Al: Proposed steps to implement his mapping.
41:55 Al: More stories about github.
43:55 Al: Bad GPS cable.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Jeff's working directory for indexes and Slack Exports:
http://sampson-jeff.com/RosAgriculture/
Index:
00:00 Jeff: Talks about displaying the export files from Slack.
11:25 Al: Talks about his path planning.
18:20 Jeff: Asks about a simplified approach.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Index:
00:00 Jeff: Discusses the need to know where your property line is.
01:15 Jeff: How would a "robot guy" determine the property line?
Surveying for hobbyists. Tape measures, GPS, guessing...
Why don't all of these measuring techniques match?
13:00 Jeff: Survey marker pins.
16:20 Jeff: It comes down to black magic.
The ultimate reference is a length of rebar that was buried 50 to 100 years ago.
18:50 Al: Asks if this is the first or second Ardusimple board for Jeff.
Fancier, more expensive receivers.
21:40 Al: Talks about his path planning. Shows some pictures.
28:00 AgOpenGPS
31:55 Jeff: Asks how Al transports his lawn tractor.
33:15 Jeff: Points out that not all areas work the same on arcgis websites.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Android cell phone app for NTRIP corrections and status:
https://www.ardusimple.com/introducing-gnss-master-app/
Another cell phone app that may work:
https://www.ardusimple.com/how-to-use-ardusimple-products-with-android-smartphones-tablets/
Simple metal detectors:
https://hackaday.com/blog/?s=metal+detector
Index:
00:00 Introduction
00:35 Jeff: Revisits property lines.
02:00 Jeff: Dug up a property marker pin in the yard.
07:40 Jeff: Trying to measure locations with GPS.
10:50 Jeff: New parts from Ardusimple.
12:15 Jeff: Quickest way to power-up and use the uBlox F9P board from Ardusimple.
13:45 Jeff: Actually measuring locations.
16:45 Jeff: Using a metal detector. (instead of randomly digging)
19:40 Al: Asks about the 5/8" to 1/4" adapter.
21:40 Jeff: Mentions the official uBlox Multiband patch antennas.
23:20 Old vs. New
24:05 Al: Has modified his path generator so he can set speed/lookahead
separately on straight vs. curves. Shows some code.
29:55 Al: Shows some documentation in Jupyter Notebook.
32:30 Jeff: Makes some comments.
33:35 Jeff: Talks about using data from the YouTube index.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Index:
00:00 Introduction
00:30 Al: Is documenting his path planning using Jupyter Notebook.
00:50 Al: Presents his outer rings and inner straight lines to mow his yard.
02:15 Al: Discusses the steps needed to create the path.
09:25 Al: Next steps to be done.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Ardusimple SimpleRTK2B Board
https://www.ardusimple.com/product/simplertk2b-basic-starter-kit-ip65/
Ardusimple Multiband Patch Antenna
https://www.ardusimple.com/product/ann-mb-00-ip67/
Ardusimple Survey GNSS Multiband Antenna
https://www.ardusimple.com/product/survey-gnss-multiband-antenna/
Ardusimple 5/8 to 1/4 Antenna Adapter
https://www.ardusimple.com/product/adapter-survey-gnss-multiband-antenna/
Amazon 5/8 to 1/4 Antenna Adapter
https://www.amazon.com/dp/B09G652MLD?ref_=pe_386300_442618370_TE_sc_as_ri_0&th=1
Ardusimple GNSS Master
https://www.ardusimple.com/introducing-gnss-master-app/
Ardusimple SW Maps
https://www.ardusimple.com/how-to-use-ardusimple-products-with-android-smartphones-tablets/
Amazon Plastic Box
https://www.amazon.com/dp/B07JJ3JC1H/ref=pe_386300_440135490_TE_simp_item_image?th=1
Amazon Cell Phone Holder
https://www.amazon.com/dp/B09YRP5PVL/ref=pe_386300_440135490_TE_simp_item_image?th=1
Al's code for position calculation.
https://github.com/jones2126/ros1_lawn_tractor_ws/blob/master/project_notes/code_for_testing/archive/gps/distance_btwn_4pts.py
Index:
00:00 Introduction
00:25 Jeff: Received new parts from Ardusimple.
03:45 Jeff: Antenna mount adapter from Ardusimple. (1 for $11, $13-20 shipping)
04:20 Jeff: Similar adapter from Amazon. (2 for $7.59, free shipping)
05:45 Jeff: Discusses his "surveyor pole".
06:55 Jeff: Talks about testing the new board with a cell phone.
08:20 Jeff: Gives a simple demo of the board and GNSS Master software working together.
15:50 Jeff: SW Maps software.
21:40 Jeff: Maybe find better software to do exactly what I want.
22:25 Jeff: Or add an RPi and do custom programming.
23:00 Jeff: Actually assembling the mono-pod.
27:20 Jeff: Using the pole as a general purpose measuring device.
29:25 Jeff: General summary of actually measuring property lines.
30:25 Jeff: Stories about metal detectors.
36:10 Al: Asks about antennas.
Frequency bands vs. satellite constellations.
Update rates.
44:40 Al: Asks about the cell phone software.
46:05 Al: Asks if the new surveyor pole is working adequately.
48:35 Al: Mentions some Python code to calculate differences in latitude.
53:30 Al: Talks about his GPS base station configuration.
59:15 Jeff: Suggests sharing thoughts if somebody is going to buy something new.
1:00:00 Al: Shows pictures of his new base station box.
1:02:05 Al: Shows some documentation for his path planning.
1:04:10 Al: Asks about configuring RTCM messages in a base station.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
The bench mark web site Jeff was talking about: https://www.cpubenchmark.net/
Index:
00:00 Al: Talks about his ComNav GNSS base station that is broken.
06:20 Jeff: Asks if the ComNav-501 will provide correction data for the ComNav-706?
09:50 Al: Talks about the new(er) NavSpark PX1125R RTK receivers.
16:30 Al: Talks about his 900Mhz 3DR Sik radios (to send correction data).
27:10 Bob had asked on Slack how to power his new RPi on his "Barbie Jeep".
We discuss that.
35:20 Jeff: Talks about HDMI connector size on various Raspberry Pi boards.
Is the RPi-5 actually available?
36:40 Al: Mentions running the Power Wheels type motors on 12V.
38:55 Jeff: Questions which board Bob ordered and we discuss prices.
41:20 Jeff: Talks about bench marks of Raspberry Pi vs. laptops.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Index:
00:00 Introduction
00:15 Jeff: Talks about the "giant R/C servos" on Amazon.
02:35 Jeff: Ordered an ASMC-04, but received an ASME-05 instead.
03:55 Jeff: Images of the two boards for comparison.
19:45 Jeff: Mentions the position feedback output pin.
23:45 Al: Got a flexible cable to connect to his transmission.
Some explanation of how it would work.
30:40 Discussion of the "center return" spring on the transmission arm.
35:15 Al: Talks about his ESP32 data logger.
36:40 Quick mention of 1/4" to 5/8" adapters. (Which turned out to be the wrong size.)
(Instead use these: Amazon 5/8 to 1/4 Antenna Adapter
https://www.amazon.com/dp/B09G652MLD?ref_=pe_386300_442618370_TE_sc_as_ri_0&th=1 )
40:30 Back to ESP32 data logger.
Edit: Here is a direct link to the ESP32 code:
https://gist.github.com/jones2126/a2045cc7bccf19a880a54732f25a375c
The Google Sheets code is at the end of that file.
45:30 Al: Comments about his GPS.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
SIK radio configuration guide:
https://ardupilot.org/copter/docs/common-3dr-radio-advanced-configuration-and-technical-information.html
Hardware guide for SIK V2 radios:
https://ardupilot.org/copter/docs/common-sik-telemetry-radio.html#common-sik-telemetry-radio
This page has the pinouts and says CTS, RTS, TX and RX are 3.3V signals:
https://docs.mrobotics.io/telemetry/sik-telemetry-radio-v2.html#connecting-the-radios
ESP32 data logger code:
https://gist.github.com/jones2126/a2045cc7bccf19a880a54732f25a375c
Link to Al's Google Sheet web page with results:
https://docs.google.com/spreadsheets/d/1G4Dt0y83rVZ4zHj-E9BxGUjl2NywmuiK3mmFzTNnBtI/edit#gid=0
Index:
00:00 Introduction
00:10 Al: Talks about 3DR (SIK) radios.
03:30 Al: Shows a screen shot from Mission Planner configuration software.
06:25 Al: Description of some Arduino test software to test radios.
08:10 Al: Discussion of level shifters.
10:40 Jeff: Suggests checking the voltage on the Tx pin vs. the 5V pin.
15:10 More discussion on the SparkFun level shifters.
20:00 Al: Talks about his Google Sheets data logger.
36:15 Jeff: Asks about an Internet connection when the house loses power.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Code to read/average/survey a fixed point:
https://gist.github.com/jones2126/c59a4c7479501aa3b7dcf47c0a9d0b3e
A description of survey mode for a Novatel receiver:
https://www.youtube.com/watch?v=nGrfk84g_t0
(Al actually has a ComNav GPS, but it emulates, in part, Novatel protocol.)
Deep South Robotics:
https://deepsouthrobotics.com/
https://deepsouthrobotics.com/2017/05/23/a-hackers-guide-to-the-k501g/
Index:
00:00 Jeff: Says he may make another attempt to debug the Pure Pursuit
follower node on a simulator.
03:20 Al: Talks about surveying a fixed point for his ComNav K501G GPS base station.
11:00 Al: Shows us his Miro board updates.
Powering a radio and an RS232 adapter.
More about GPS averaging.
Jeff posts a link to a Novatel setup video.
22:15 Al: Details on the mounting the GPS base antenna.
24:00 Al: Update and suggestions on the broken GPS board.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Video with quick update on Tractor #2. https://drive.google.com/file/d/1OW22yvCCVPCCr4rFTG6Y50RGTO5jqLLx/view?usp=drive_link
Index:
00:00 Jeff: Talks about current monitoring. Hall effect current sensors.
04:45 Jeff: AC current transformers.
09:45 Jeff: Talks about sorting and disposing of extra junk.
11:00 Current transformers vs. clamp meters.
13:50 Al: Talks about progress on his second lawn tractor.
22:20 Al: No reply from his questions to the GPS manufacturer.
22:50 Bob: Gives an update on what he has been doing.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
https://navspark.mybigcommerce.com/
https://navspark.mybigcommerce.com/additional-modules/
Index:
00:00 Jeff: Says he is still clearing out his old junk.
01:15 Al: Gives update on his second lawn tractor.
01:35 Al: Update on his dead GPS receiver.
05:40 Al: More pictures of the second lawn tractor.
06:25 Al: Pictures of his new GPS base station.
07:40 Al: Search for new GPS.
08:45 Jeff: Suggests making the base station auto configure based on location.
12:50 Al: Back to searching for new GPS.
20:00 Al: Side project to weigh bee hives.
27:00 Al: Hidden treasure...
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Weight Miro board:
https://miro.com/app/board/uXjVNQ5iICg=/?share_link_id=541332033354
Index:
00:00 Al: Talks about weighing bee hives. HX711, Load cells, ESP32, Round LCD
(See his Miro board for details.)
1.28" tft spi 240*240
Bathroom scales load cells with A/D board.
12:10 Jeff Shows his LCD he might play with.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Weight Miro board:
https://miro.com/app/board/uXjVNQ5iICg=/?share_link_id=541332033354
Index:
00:00 Al: Finished off his beehive project.
00:25 Al: Talks about new GPS equipment. Rover board with dual antenna and heading output.
01:40 Al: Shows his 3DR radios setup he is trying to get to work.
12:05 Al: Shows which board he got for the base station end.
Whoops, one board is L1/L2 and the other is L1/L5.
13:45 Al: More thoughts on 3DR radios.
24:45 Jeff: Asks if the heading output on the new board is straight forward.
26:10 Mounting antennas.
30:05 Jeff: Asks about international shipping costs and extra credit card charges.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/channel/UCGfslJO8yD3iz7u_nNFCMnQ/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Index:
00:00 Al: Talks about his lithium battery for his lawn tractor.
03:00 Al: Gives an update on his new GPS equipment.
05:15 Al: Talks about NTRIP clients for correction data.
RTK2GO servers. str2str in RTKLIB. Other NTRIP clients.
14:00 Al: Goes digging through the RTK2GO website to find a map of locations.
15:45 Al: Shows another base station implementation.
17:25 Jeff: Asks how many NavSpark boards does Al have.
28:25 Jeff: Asks what the heading message from the "RH" board looks like.
31:40 Jeff: Antenna mounting.
32:40 Forgetting the start-up sequence.
33:30 Al: Final comments about the battery.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Index:
00:00 Jeff: Talks about the Slack free trial that is active.
06:25 Al: Asks to have Jeff's pages posted.
14:00 Al: Talks about stepper motors and linear slides.
16:15 Al: Shows his stepper motor driver module.
16:40 Al: Motor gets real hot.
17:20 Al: Connections to make it move.
17:45 Discussion of motor heat problem.
26:30 Al: Reminder about documentation and backups.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Link to online version of our Tractor Automation Slack backup:
http://sampson-jeff.com/RosAgriculture/TractorAutomationSlackExports-Apr3-2024/
ZIP version if you want your own local copy. Just download and unzip. (40 MB file size)
http://sampson-jeff.com/RosAgriculture/TractorAutomationSlackExports-Apr3-2024.zip
Al's links for 3D printing:
Selecting a free 3D CAD option - 3D design for 3D printing pt1
https://www.youtube.com/watch?v=XHzOzxCQ7MU
BEST FREE CAD / 3D Modelling software 2024 - I tested them all!
https://www.youtube.com/watch?v=J--QVhGheP4
My Top 5 Useful 3D Prints of 2016
https://www.youtube.com/watch?v=3BDK5Wz53Ig
Index:
00:00 Jeff: Talks about the Slack backup he made.
03:00 Jeff: Shows where to find the Slack backup on his web page. (See links above.)
Short demo of how to open a page so you can see the results.
08:00 Jeff: Tells how to download the ZIP file so you can have your own local copy.
12:20 Al: Answers some of Bob's questions about 3D printing.
Shows a few YouTube (just the intro) pages about 3D printing. (See links above.)
16:45 Jeff: Points out that you can get the modeling software and play with it without having a printer.
18:35 Al: Talks about stepper motors.
19:36 Jeff: Suggests playing with the settings for microstepping on the controller.
20:25 Al: Shows his RTK base station.
21:10 Jeff: Asks about reverse polarity protection for the expensive GPS board.
Another tour of the inside of the box.
22:55 Al: Remapping his target area.
23:45 Discussion of Linux history files.
28:30 Al: Steps to convert a stored path to a boundary map.
30:45 Al: Shows a linear actuator he dug out.
32:25 Jeff: Wants reports on how well that particular actuator works.
36:25 Jeff: Yet again brings up the concept of a latch between an actuator and the transmission.
And the possibility of re-using automotive parts.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Index:
00:00 Jeff: Talks about dumping Windows and moving everything to Linux.
04:10 Al: Talks about rebuilding his perimeter and path after installing a permanent base station.
21:00 Al: Dancing robots.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Index:
00:00 Jeff: Has nothing.
00:20 Terry: Shows a burned up Protoboard. Describes the new layout.
Processor is resetting.
02:30 Jeff: Asks about the damaged Protoboard. Wiring.
05:20 Al: Talks about his second Lithium Ion battery pack.
07:45 Al: Shows the newer/larger BMS (Battery Management System).
09:15 Jeff: Asks if Terry's processor has 5-volt tolerant inputs.
We look at the burned board again.
11:25 People go looking for level translator boards for comparison.
13:05 Jeff: Offers some impromptu alternatives. (He screws up the description.)
15:10 Terry: Lists some things he will check for debug.
17:15 Terry: Shows his robot.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Smartcan trash transporter
https://www.youtube.com/watch?v=ITanfzvDFvw
New $60 RTK GPS
https://rtklibexplorer.wordpress.com/2024/04/28/dual-frequency-rtk-for-less-than-60-with-the-quectel-lc29hea/
https://rtklibexplorer.wordpress.com/2024/05/06/configuring-the-quectel-lc29hea-receiver-for-real-time-rtk-solutions/
Index:
00:00 Jeff: Talks again about replacing his Windows computer.
00:50 Jeff: New headphones.
01:55 Jeff: Neighbors moved out...
02:15 Jeff: Lawn tractor update.
03:10 Al: Shows a trash can transport robot.
05:45 Al: Talks about his path planning.
12:25 Jeff: Does a test with his old headphones.
We talked after the meeting and referenced a new RTK GPS. I'll put links in the chat.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Smartcan trash transporter. (from last week)
https://www.youtube.com/watch?v=ITanfzvDFvw
Bob found this video for an automated trash container.
https://youtu.be/7fdM2hHW8yA?si=qVg5CoXlfV0AIya0
Video about "trash train".
https://www.youtube.com/watch?v=VhYEOG9LOIk
The way my trash gets dumped in Minneapolis. (We don't have robotic arms.)
https://www.youtube.com/watch?v=6vHgAGiHJoI
Index:
00:00 Al: Gives more details on his path planning.
04:45 Al: Creating a path around an obstacle.
07:00 Al: Creating the concentric passes around the outside.
11:35 Jeff: Asks how the concentric paths are generated.
13:40 Jeff: Revisits the discussion from last week about automated trash cans.
17:35 Al: Brings up Pure Pursuit navigation.
18:30 Jeff: Mentions trying to keep at least one laptop that is ready to go.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Index:
00:00 Jeff: Suggests debug ideas for testing Pure Pursuit path tracking.
04:20 Jeff: Mentions he hasn't yet moved the Zoom meetings to a Linux computer.
04:45 Jeff: Discovered that his new headphones don't actually work.
07:20 Al: Gives some updates on his path planning.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Index:
00:00 Jeff: Quick update on Terry's project.
00:30 Jeff: More robot parts in his garage. Mobility scooter transaxles.
04:10 Al: Talks about his path generation.
07:05 Al: Talks about his PDF write-up and Jupyter Notebook. Details about his process.
14:45 Al: Still needs clean-up at his obstacles.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al: Polycam - LiDAR & 3D Scanner for iPhone & Android
https://poly.cam/
Al: https://r2manufacturing.com/products/trash-tamer
Index:
00:00 Jeff: New garage door. Inspiration in disguise.
01:55 Jeff: Unloading a plotter on local surplus store. Free 150W sine wave inverter in exchange.
04:00 Jeff: Pulling a "standard" lawn mower with the "Mini Tractor".
Current sensing and Dallas 1-wire DS18B20 temperature sensors. And is the vehicle beefy enough to pull a lawn mower (safely).
07:40 Jeff: Safety in transportation. Don't let your junk (and your laziness) destroy your car.
08:15 Al: Talks about his path planning for his lawn tractor.
Some discussion on selecting a start point.
14:20 Jeff: Suggests an extra step (before submitting the predefined path) and tell it to drive from the current location to the start point of the path. Then publish the predefined path.
15:25 Al: Shows a gadget for your tractor to pick up and move trash cans.
16:25 Al: Shows a product for photogrammetry input.
18:35 Jeff: Asks if Al is planning ahead if his lawn mowing gets interrupted.
18:30 Jeff: Goes off-topic and talks about wild animals in urban areas.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Index:
00:00 Jeff: Talks about measuring actuators and sensors on his lawn tractor.
10:20 Al: Talks about his current state of progress. Speed control.
11:35 Al: Talks about his path generation.
13:50 Al: Talks about generating the path around obstacles.
16:20 Al: Mice: Organic vs. Computer.
17:50 AL: USB port errors.
18:10 Al: Too many log files. He wrote a script to search through them.
19:15 Al: Getting I2C errors. Needs to track that down.
20:45 Al: More testing and user interface.
31:40 More mouse stories.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Jeff's new garage door opener:
https://www.chamberlain.com/quiet-wi-fi-garage-door-opener-with-wireless-keypad/p/B2401TMC
Add this line to bashrc file to add time and date to "history" command.
export HISTTIMEFORMAT="%m/%d/%y %T "
Index:
00:00 Jeff: Talks about his new garage door and opener.
07:05 Al: Talks about progress on path planning. Some discussion on speed control.
09:00 Jeff: Asks if there are any plots of the vehicle speed vs. ground contour.
13:05 Al: Now has problems with steering control.
19:55 Some discussion about the mouse chewing through the wires.
20:50 The original sensor problem (last week) turned out to be a microcontroller reset problem.
25:00 Al: Added some extra debug display messages.
25:55 Al: Has added time and date to his Linux "history" display.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Jeff's new garage door opener:
https://www.chamberlain.com/quiet-wi-fi-garage-door-opener-with-wireless-keypad/p/B2401TMC
Videos about the RATGDO modules:
https://www.youtube.com/results?search_query=RATGDO+github
Link to RATGDO github:
https://github.com/PaulWieland/ratgdo
A previous discussion from our group on measuring engine RPM:
https://youtu.be/dOWqqKUjeBA?t=780
Videos about mechanical governors:
8a Governors
https://www.youtube.com/watch?v=_2rHwMlE4vU
8b Small Engine Governors
https://www.youtube.com/watch?v=RYP-YgIRfkI
8c Governor Control
https://www.youtube.com/watch?v=Ax1ZXDP4rIg
Governor Adjustment and How They Work Honda Briggs Tecumseh Kohler etc.
https://www.youtube.com/watch?v=bOHv3X42-wk
How Small Engine Governors Work (any governor setup)
https://www.youtube.com/watch?v=50WipK9L8hc
How a Mechanical Governor Works on a 4-Stroke Lawnmower Engine
https://www.youtube.com/watch?v=HJ0W-YTG7O0
Al's new PCB software:
https://easyeda.com/
Index:
00:00 Jeff: Continuation of last weeks garage door opener comments.
01:45 Jeff: Alternative control module. (RATGDO)
03:50 Jeff: Or just solder wires on an extra remote.
07:15 Jeff: Revisits engine RPM vs. vehicle speed. (From last week.)
09:45 Jeff: Talks about governors on engines.
16:20 Jeff: Controlling the transmission instead of, or in addition to the engine governor.
17:15 Al: His interpretation.
21:10 Jeff: Has problems with grass build-up in his push mower.
22:30 Al: Analyses some tests that he ran. Speed vs. transmission control.
30:15 Al: Shows a new PCB layout. And mentions the software he used. (EasyEDA)
32:10 Back to Al's speed analysis.
39:45 Al: Shows his ground track is right once, but not 4 other times. IMU?
42:25 Jeff: Asks about what method of speed control is being used.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Index:
00:00 Al: Shows his new PC board he talked about two weeks ago.
01:55 Al: Talks about his speed sensors on his back wheels.
05:00 Al: Talks about the lawn tractor video from the Home Brew Robotics Club.
07:30 Jeff: Makes some random observations about the speed detection.
15:30 Jeff: Asks about the weather.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Ziegler-Nichols tuning:
https://duckduckgo.com/?t=ffab&q=ziegler+nichols+method&ia=web
Index:
00:00 Jeff: Talks about mounting wheel sensors.
Mentions Lawn Tractor Automation index and ROS Agriculture index to view previous videos.
02:10 Jeff: Suggests alternate using "out rigger" sensor mounting.
03:15 Jeff: Another alternate, like Greenzie did, have an encoder that rides on existing wheel.
04:30 Jeff: Suggests that we brainstorm sometime.
05:00 Al: Miro board updates. And data management.
07:55 Al: Updates on his speed sensors.
Comments about adjusting PID control.
Results on path following.
17:20 Jeff: Asks about some glitches on the plot.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Links to Al's absolute magnet angle sensor and 3D printed parts videos:
06282019 Lawn Tractor Meeting https://www.youtube.com/watch?v=U0TnhDnmteY
00:00-10:10 Al: Shows his wheel encoder setup. Explains how to design gears.
(good description of making gears)
04142020 Community Meeting https://www.youtube.com/watch?v=Yrp0hoFUNV8
40:05-49:15 Al: Is adding his second speed sensor to a back wheel. 3D printed
bracket and gear, Teensy, AS5048B magnetic sensor board.
(a couple of CAD drawings and good description)
04022021 Lawn Tractor Automation meeting https://youtu.be/y5fvMURPsNE
00:00-01:30 Al: Shows his magnetic sensor design. (good images)
05212021 Lawn Tractor Automation meeting https://youtu.be/rGRyBysRTFk
01:15:15-1:18:50 Al talks about his magnetic encoder for wheel odometry.
Matt's sprocket encoder from ROS Agriculture meeting:
https://youtu.be/UwP47rwAH4c?t=210
Index:
00:00 Jeff: Random babbling.
01:00 Jeff: Talks about wheel encoders.
01:05 Reference to Al's 3D printed gears and magnetic absolute shaft encoder.
04:30 Mentions of Jeff's quadrature encoders.
06:20 Reference to Matt's sprocket encoders from ROS Agriculture.
08:15 Jeff: Talks about encoder wheels.
11:30 Jeff: Reference back to original Greenzie lawn tractor and an encoder wheel.
12:10 Jeff: Mentions using accelerometers in an IMU chip to measure wheel movement.
13:45 Jeff: Bottom line, come up with a list of all the various odometry methods.
14:00 Jeff: Mention of the ROS Agriculture and Lawn Tractor Automation index.
15:40 Al: Posts some links to sprockets and sensors.
Discussion of part sizes. (Sprockets vs sensors.)
18:45 Al: Shows a Blue Pill board. And we discuss programming these boards.
19:40 Jeff: Complains about Zoom. Then he shares the wrong screen to prove a point...
21:00 A recap of sprocket size vs. sensor diameter.
22:50 Jeff: More comments about Greenzie encoders.
24:20 Jeff: Talks about attempting to put wheel encoders on a full size farm tractor.
30:50 Al: Talks about the speed control on his lawn tractor.
Controlling vehicle speed with a PID to control the hydrostatic transmission.
32:40 Al: Ground plot of the vehicle.
34:00 Al: List of problems to be solved.
Switching between GPS and wheel odometry.
A Pure Pursuit look ahead problem.
An offset between reported odom and look ahead position.
Servo pre-set values may need to be adjusted.
37:00 Al: Talks about IMUs. The Chip Robotics IMU provides a relative heading.
He got a BNO-085 IMU from Ada Fruit.
40:00 Al: Writing code for a driver.
41:20 Al: Communication problems.
43:50 Discussion of I2C.
46:15 Discussion about dual GPS.
49:00 Discussion about correction data between different brands of GPS (GNSS) receivers.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Index:
(Jeff has props today...)
00:00 Jeff: Talks about an angle sensor. (possibly from a Chevy Corvette)
01:40 Jeff: Talks about an encoder bracket from Amazon. For attaching an encoder wheel.
06:35 Jeff: Mention of a microcontroller to read the new encoders.
07:30 Jeff: Short explanation of gears and encoders that are on the Sammy2 mini-tractor.
10:00 Jeff: It might be possible to glue on a magnet and add an absolute position sensor.
11:15 Jeff: Another mention of the sprocket/proximity sensor from last week.
12:15 Jeff: A look at an encoder wheel. And problems that my come up.
13:45 Jeff: Some exploration of the ROS Agriculture and Lawn Tractor Automation meetings indices.
35:50 Al: Uses a search for F411 boards as a lead-in to his IMU swap-out.
Ada Fruit BNO-085 vs. Chip Robotics IMUs.
41:20 Al: Memory size issues.
46:50 Al: Results of testing.
51:00 Al: Ordered a surplus encoder from a printer.
53:00 Jeff: Asks if Al now has a redundant IMU sensor.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Index:
(Jeff has new props today...)
00:00 Jeff: Talks about mounting the encoder wheels on the Sammy2 robot.
05:20 Jeff: Shows his cheap bore scope camera.
06:15 Jeff: A three different hall effect sensors.
08:10 Jeff: A magnetic proximity sensor.
10:20 Jeff: Shows a "Rolling tape measure" from Harbor Freight.
12:10 Jeff: Mention of microcontrollers to read the new encoders.
16:10 Jeff: Another encoder wheel from a surplus store.
17:30 Jeff: Shows his bore scope camera again.
19:10 Jeff: Current status and some future steps.
19:40 Al: Suggests creating tutorials on programming a Blue Pill board.
20:45 Al: Comments on the progress of Jeff's encoder mounting attempts.
24:50 Al: Status report.
25:55 Al: PID testing for speed control.
29:00 Al: Switching between GPS and wheel odometry. Jumps in GPS position. Weird speeds reported.
34:00 Al: Correcting/handling reverse direction values.
34:40 Al: What would be needed to drive in tele-operated mode?
35:10 Al: Playing with look-ahead distance in Pure Pursuit.
39:25 Al: Mentions XFCE window manager. Which is connected with TightVNC that he
and Bob are playing with.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Links to Chris Albertson's github
https://github.com/chrisalbertson?page=1&tab=repositories
https://github.com/chrisalbertson/quadratureBluePill
Al's https://github.com/jones2126/lawn_tractor_embedded_code
A couple of previous videos talking about recreating odometry in Xcel. From
the ROS Agriculture meeting index: http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
I: 11222019 Lawn Tractor Meeting https://www.youtube.com/watch?v=Xwc1GZ1nFTM
14:15 Jeff: Examining the two log files. Plots of odometry and GPS. And how to fix the odometry plots.
32:50
I: 12032019 Community Meeting https://www.youtube.com/watch?v=3Bhh6gy4Bs0
00:00 Jeff: Talks about GPS/GNSS. Hemisphere V200, uBlox F9P, SSD for bagfiles, DOT CORS correction data over SwiftNav radios, GPS plots
15:30 Jeff: Odometry plots, reconstructed odometry vs. original odometry
19:50 Jeff: Moves on to talking about IMUs. Sparkfun Razor IMU, EM-7180 (from Tindie). Then back to odometry.
26:00
Index:
00:00 Jeff: Talks about small microcontroller boards and quadrature encoders.
00:55 Jeff: Talks about getting code to run the quadrature encoders.
01:10 Jeff: Points out "quadratureBluePill" project. By Chris Albertson. (See link in chat)
03:30 Jeff: Proposes logging raw data to a file. Then extracting odometry with Xcel.
04:35 Jeff: More exploration of Chris Albertson's github.
servo_controller
PCA9685_Precision_Servo_Driver
Seeed_Arduino_AS5600
open_robot_actuator_hardware
PCA9685-driver
Encoder
quadratureBluePill
ros_pololu_servo
Raspberry_Pi
05:55 Jeff: Jeff: Attempts to show AS5600 board. Switches to bore scope camera.
08:30 Jeff: I mentioned pricing of this camera last week.
But you have to convince Amazon to show the cheap ones.
09:35 Jeff: Back to driver for the AS5600.
10:00 Poking through the "robot_actuators".
10:50 Talk about PCA9685 board.
11:45 The "Encoder" library. More libraries...
12:40 The "Raspberry_Pi" library which has lots of fun libraries.
14:20 Al: Asks about quadrature decode libraries.
15:50 Jeff: USB connectors breaking off the boards.
22:20 Jeff: Shows a "graphical" depiction of odometry. (not meant to be understood...)
24:15 Jeff: "One more thing I don't want to go into..." but I do anyway.
25:20 Jeff: An application for a non-contact angle sensor. (carburetor position)
26:45 Al: Compares his magnetic shaft encoder to Jeff's quadrature encoder.
29:25 Al: Talks about his path tracking results. May be due to ground slope.
36:45 Jeff: Asks if the problem is solved.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
[Repost from last meeting]
A couple of previous videos talking about recreating odometry in Xcel. From
the ROS Agriculture meeting index: http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
I: 11222019 Lawn Tractor Meeting https://www.youtube.com/watch?v=Xwc1GZ1nFTM
14:15 Jeff: Examining the two log files. Plots of odometry and GPS. And how to fix the odometry plots.
32:50
I: 12032019 Community Meeting https://www.youtube.com/watch?v=3Bhh6gy4Bs0
00:00 Jeff: Talks about GPS/GNSS. Hemisphere V200, uBlox F9P, SSD for bagfiles, DOT CORS correction data over SwiftNav radios, GPS plots
15:30 Jeff: Odometry plots, reconstructed odometry vs. original odometry
19:50 Jeff: Moves on to talking about IMUs. Sparkfun Razor IMU, EM-7180 (from Tindie). Then back to odometry.
26:00
Index:
00:00 Jeff: Talks about his encoder wheels mounted on Sammy2 robot.
Old encoders vs. new encoders.
Details of connecting encoders to STM32F401 board.
06:00 Jeff: Ground plot of new encoder path.
08:35 Jeff: Mention of replotting in Excel. (See links in chat section above for "recreating" plots.)
11:20 Jeff: Differences between axle encoder and encoder wheel. (When does tire diameter make a difference?)
12:20 Jeff: Comparing old encoders to new encoders.
14:35 Jeff: More talk about the "little microcontroller boards from Amazon".
15:20 Jeff: A couple comments on finding a multiport serial logger.
17:25 Jeff: Admission of laziness.
18:15 Al: Asks about scale factors. Jeff admits to "calibration" steps. :-)
20:00 Al: Talks about his experience with the ST Micro IDE package.
22:15 Al: Shows a new PC board for a Teensy and a BNO085 module. And a 3D printed box.
24:20 Al: Talks about his "GPS to Odometry" code. And IMU code.
24:45 Al: Alludes to tilt compensation.
26:25 Jeff: Goes back to his wheel odometry and expected results. Expectations from wheel odometry.
30:25 Talk about wheel slippage.
31:50 Jeff: Calibration sequences to fix all of your problems.
33:30 Slippage, in the real world.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Index:
00:00 Jeff: Points out links to meeting video index in description below.
01:25 Jeff: Recap of installing new encoders.
02:00 Jeff: Recreating odometry data (continuation from previous meeting).
04:15 Jeff: More parts for the junk box. Talks about the $3 STM32F401 boards.
07:15 Jeff: How to document C code vs. Excel formulas? (for the encoders)
Distance in encoder counts vs. meters.
08:45 Jeff: Round off issues when using integers for calculations.
10:40 Jeff: Code cleanup.
11:45 Jeff: Coming up with the correct scale values. Create a new data set.
13:25 Jeff: Maybe add the odometry scale factors and initial values as ROS parameters.
Maybe use that during calibration.
15:55 Al: Asks about development using the ST Micro parts and software.
Jeff gives a quick run down on building a project with STM CubeMX IDE.
31:10 Al: Talks about his tilt compensation code (it didn't work).
32:50 Al: One of his wheel sensors is not reporting speed.
33:55 Al: Mice (field mice, not computer mice).
34:40 Al: Need for more debug data.
35:40 Jeff: Brings up Juan's story about animals eating wiring.
https://youtu.be/d6QbVnTnmNg?t=261
Al suggests putting everything in a box.
Jeff may have same problem.
Jeff suggests rodent poison, as last resort...
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Index:
00:00 Jeff: Points out links to meeting video index in description below.
00:20 Jeff: Mentions the new wheel encoders. And shows a screenshot of an Excel recreation.
03:55 Jeff: Talks about a (failed) attempt to collect a large amount of data.
11:55 Jeff: Weird errors that should have surfaced long ago.
12:50 Al: Has a video and a ground plot of driving in his yard. More descriptions.
13:30 Al: Description of zoomed-in plots.
14:20 Al: Intermittent GPS drop-outs.
16:15 Al: Looking at path following results.
20:40 Al: Plot of vehicle speed.
21:20 Al: Log of laptop variables: CPU load, CPU Temp, battery voltage, battery current...
25:30 Al: Switching between GPS and wheel odometry isn't quite right.
26:10 We make several failed attempts to play Al's video.
29:20 Video finally plays.
30:40 Some analysis of path following.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Index:
00:00 Jeff: Points out links to meeting video index in description below.
00:36 Jeff: Talks about data logging.
01:20 Jeff: The ol' "Swapped out the harddrive" excuse.
04:45 Jeff: Raspberry Pi? How to talk to it?
06:30 Jeff: Starting and stopping programs on a Raspberry Pi (or any head-less install).
08:00 Al: Talks about his starting and stopping methods. Killing PIDs.
15:55 Jeff: Proposes using a physical switch to start/stop data logging. Al uses an on-screen GUI.
20:30 Jeff: Asks about Al's wheel encoders that weren't working last week.
22:00 Al: Steering. Digging through other people's code.
40:05 Al: PDFs on steering methods. And some talk about GPS tilt compensation.
47:30 Al: Talks about a presentation, "AI foundations for robotics".
48:55 Jeff: Holds up a gear and talks about drilling it out.
50:55 Al: Holds up a Bluetooth board. We talk about "Inspiration".
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Teensy:
https://www.pjrc.com/teensy/
Mini Robomind:
https://robominds.com/index.htm
https://robominds.com/images/MRM1p1a_diag.gif
PWM boards PXA9685:
https://www.amazon.com/s?k=PCA9685+16+CH+12Bit+PWM
Remote access software:
https://www.nomachine.com/remote-access-for-everybody
Index:
00:00 Jeff: Points out links to meeting video index in description below.
00:28 Jeff: Talks about interchangeable processor boards, like Teensy 4.0 and 4.1.
Teensy 3.x boards are going away.
Random comparisons for the Teensy boards.
17:00 Jeff: Comments about CAN peripherals on modern microcontrollers.
21:15 Al: Says he is all for Teensys also.
23:40 Jeff: Talks about (more) standardized connector layout for prototyping.
24:45 Jeff: An example of connectors on a PWM board.
30:55 Jeff: The same board is available with colorful connectors.
33:30 Jeff: Shows a Mini-Robomind board as an example of connector layout.
36:10 Jeff: "So this what I am thinking..."
38:55 Jeff: Summing it up.
38:20 Al: Way too many PWM outputs...
40:30 Al: New NAS system for his network. Raspberry Pi 5, M.2 MVMe SSD.
47:45 Al: Talks about lithium batteries and power inverters. Replacing UPS batteries.
56:00 Al: Found some new remote desktop software.
59:55 We discuss loud mowers, leaves, modifying mowers.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Mini Robomind:
https://robominds.com/index.htm
https://robominds.com/images/MRM1p1a_diag.gif
Index:
00:00 Jeff: Points out links to meeting video index in description below.
00:40 Jeff: Shows some gears and talks about drilling them out for larger shaft.
05:20 Jeff: Continued from last week: More about colorful header pins.
Some exploration of the Mini Robomind board.
14:50 Jeff: Discussion of wires vs pins.
Discussion of one of Matt's early boxes.
Fun facts about Mini Robomind board and Bot Board II.
21:45 Jeff: The "Small Robot" needs electronics added.
33:35 Al: Talks about mounting techniques.
36:45 Al: Some thoughts on next design.
38:55 Al: Induction proximity sensors.
42:00 Al: Motor driver board. Transmission control. Linear actuator?
44:00 Al: Updates on his NAS drive. And a battery
44:45 More mounting options.
46:25 Al: More thoughts on encoders.
47:30 Al: Linear actuators.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
https://toshiba.semicon-storage.com/info/TLP2630_datasheet_en_20190617.pdf?did=16837&prodName=TLP2630
https://www.vishay.com/docs/84732/6n137_vo2601_vo2611.pdf
https://www.pololu.com/category/95/pololu-jrk-motor-controllers-with-feedback
Index:
00:00 Jeff: Points out links to meeting video index in description below.
01:15 Jeff: Talks about optical isolation. TLP2630, 6N137
08:30 Jeff: Ground loops. Use optical isolation.
15:50 Jeff: Explores more ways to wire things together.
22:45 Al: Talks about a new NRF24L01 radio. A demo of it running.
27:55 Al: Shows a JRK G2 21v3 motor controller. (Pololu)
29:55 Jeff: Asks about Al's linear actuator. Does it have feedback?
35:00 Jeff: Mentions that Pololu (among others) will have "Black Friday" specials coming up.
36:55 Jeff: Asks where the linear actuator will be installed. Electrical noise.
41:10 Jeff: Suggests a "hybrid" wheel odometry solution.
Merge IMU heading. And/or substitute "decent" yaw gyroscope.
"Robot Localization" node.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al: 74AHCT125 - Quad Level-Shifter (3V to 5V) [74AHCT125]
https://www.adafruit.com/product/1787
Jeff: 74LVC245 - 8-bit Logic Level Shifter
https://www.adafruit.com/product/735
Index:
00:00 Jeff: Points out links to meeting video index in description below.
00:55 Jeff: Complains about Windows and is switching the Zoom meeting recordings to Linux.
02:05 Jeff: Holds up some parts for a proximity sensor/encoder experiment.
03:15 Jeff: Back to the Windows to Linux switchover.
03:55 Al: Asks about the proximity sensor experiment.
06:30 Jeff: Mentions his "inline video editing" idea.
08:20 Al: Gives an update on his NAS drive (Network Attached Server?).
Maybe power problems?
10:35 Al: Another way to test his SSDs.
11:00 Al: A powered USB hub.
12:00 Al: Examples of what he could use this for.
13:15 Jeff: Points out the goofy thumbnail images on Zoom.
Asks more questions about the NAS drive concept.
15:10 Jeff: Points out he is tempting fate by not doing backups.
16:35 Al: Using rsync as a tool for incremental backups.
17:35 Al: Status LEDs for his radio board experiments.
Individual LEDs, RGB LEDs, NeoPixels (one wire addressable).
NePixels that look like regular LEDs.
24:00 Discussion about level shifting methods.
32:40 Jeff: Adafruit says to put a resistor in series with first Neopixel...
33:25 Al: Some potentiometers he found.
37:30 Jeff: Plays around some more with the Zoom options.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Example named entries in the index file:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm#20241107
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm#20240822
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm#20240509
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm#12012022
Index:
00:00 Jeff: Points out links to meeting video index in description below.
02:05 Al: Talks about range testing for his NRF24 radios.
04:15 Jeff: Asks if Al's house blocks the radios.
06:50 Jeff: Asks if Al has an SDR radio for testing. (Maybe seeing other radio sources interfering.)
08:50 Al: Gives an update on his Raspberry Pi 5 project.
10:50 Jeff: Mentions wasting money on Black Friday sales. UPS, SSD drives.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Index:
00:00 Jeff: Points out links to meeting video index in description below.
Comments about Slack channel backups. And the degradation of Slack usability...
But we are attempting to preserve/archive Slack messages.
01:55 Al: Shows an addressable (1-wire) RGB LED.
03:05 Al: Is building a new remote control. Easy EDA layout software.
09:05 Al: Comments about his NAS drive.
09:30 Jeff: Thoughts on using the Slack archive and the HTML Lawn Tractor index
and the YouTube channel index together.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Index:
00:00 Jeff: Points out links to meeting video index in description below.
01:10 Al: Talks about his new remote control design.
Teensy 3.2, NRF24 radio, switches, pots, LEDs.
02:30 Al: Addressable RGB LEDs for status display.
03:35 Jeff: Mentions sourcing and functionality of the addressable RGB LEDs.
05:05 Al: More on implementing his LEDs.
06:00 Al: The Teensy "millis" function.
More discussion of the LED implementation.
07:20 Al: More details about switches and pots and code for the remote control.
09:50 Al: Schematic of new design. Created with EasyEDA. A random tour of the project.
13:10 Jeff: Offers suggestions on wiring switches.
17:40 Back to discussion of design.
18:40 Al: Comments about pros and cons of EasyEDA.
19:10 Jeff: Suggests adding patterns for alternate parts. I.e., NRF24 radio vs. LORA radio.
And adding extra pads on the unused pins.
More comments about manufacturability.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
https://www.flashforge.com.hk/creator-3-pro.html
https://www.amazon.com/FlashForge-Creator-Independent-Extruder-Printer/dp/B09R3BPW57
https://automaticaddison.com/how-to-install-ros-2-jazzy/
https://www.pololu.com/product/4091
https://raspberrytips.com/how-to-power-a-raspberry-pi/
https://minipctech.com/power-your-raspberry-pi/
Some sketchy assumptions made in the next one (in my opinion):
https://www.hackster.io/simon-vavpotic/raspberry-pi-5-how-to-use-usb-c-to-share-power-rpi-via-gpio-e07c57
USB-C References:
http://ww1.microchip.com/downloads/en/appnotes/00001953a.pdf
https://www.usb.org/sites/default/files/D2T2-1%20-%20USB%20Power%20Delivery.pdf
Index:
00:00 Jeff: Points out links to meeting video index in description below.
00:35 Terry: Has a 3D printer on loan. He is making an impeller blade for a snow blower.
04:05 Terry: He is using the free version of OnShape CAD software.
08:00 Terry: He has a new First Robotics team to mentor.
11:10 Some discussion about 3D printers.
14:40 Terry: Next steps in his incremental design.
16:00 Al: Has installed Ubuntu 24.04 and ROS2 Jazzy on a Raspberry Pi 5.
19:25 Al: Says he is about to order the PCB for version 2 of his remote. (See last meeting)
27:10 We talk about power for a Raspberry Pi 5.
30:45 Al: Talks about his BNO085 IMU SPI connection.
38:20 More discussion about powering Raspberry Pi.
49:50 Al: Noticed that his RPi5 will actually run Gazebo.
55:55 Jeff: Wrap up...
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
A 5 amp USB-C cable from Amazon.
https://www.amazon.com/gp/product/B0C1YXM9PF?ref=ppx_pt2_dt_b_prod_image
A 5V/5A power convertor from Amazon.
https://www.amazon.com/gp/product/B01NALDSJ0?ref=ppx_pt2_dt_b_prod_image&th=1
The voltage/current monitor command.
https://forums.raspberrypi.com/viewtopic.php?t=367244
pi 4b won't boot and green led keep blinking fast
https://forums.raspberrypi.com/viewtopic.php?t=324271
https://forums.raspberrypi.com/viewtopic.php?f=28&t=58151
This page has a chart that says Ubuntu 24.04 will run on either RPi4 or RPi5.
https://ubuntu.com/download/raspberry-pi
32GB cards will not work.
https://askubuntu.com/questions/1134859/sd-card-not-mounting-with-mmc0-error-110-whilst-initialising-sd-card
https://patchwork.kernel.org/patch/11088719/
Collection of RPi "partial" schematics. (But not RPi5)
https://www.raspberrypi.com/documentation/computers/raspberry-pi.html#schematics-and-mechanical-drawings
RPi4 board revision.
https://www.cytron.io/tutorial/how-to-check-if-your-raspberry-pi-4-model-b-is-rev1-2
Crimp on ferrules. (From our HTML meeting index)
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm#20230112 @10:35
Index:
00:00 Jeff: Points out links to meeting video index in description below.
00:20 Jeff: Powering RPi5 with batteries.
06:45 Jeff: The extra requirements for power supply "negotiation".
19:05 Jeff: Stories about getting the RPi4 to run again.
21:00 Jeff: Trying to read existing Micro SDFlash card on Ubuntu laptop.
And reloading the card with Ubuntu 24.04.
24:10 Jeff: Found that 32GB Micro SDFlash cards will not work on Ubuntu laptop.
28:45 Al: Advice on booting. Initially, boot from from SDFlash and not USB devices.
29:20 Jeff: Also suggests starting with an official RPi power supply instead of battery power.
30:15 Al: Shows more about his new radio control PCB.
46:20 Al: Wants to reprogram his Teensy 4.1 without removing it from the board.
51:10 Jeff: Suggests running an RPi5 from an RPi4 power supply.
Which would simulate not having PD negotiation.
52:30 Jeff: Mentions that some of the RPi boards have "partial" schematics posted.
53:10 Jeff: More than one revision of RPi4 board.
54:00 Jeff: Some more comments on the new USB power supply.
56:55 Al: Asks about wires in screw terminals. (crimp on ferrules)
59:30 Al: Anecdotes about soldering.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
First Robotics:
A Youtube of the Sunday First Robotics tournament.
https://www.youtube.com/watch?v=tFSW9bpwrdA&t=1403s
We are team 26205. We are featured at times:
#6: 49:00
#10: 2:10:00
#14: 2:33:30
#23: 3:22:08
#31: 4:04:15
#37: 4:36:00
We Ranked 5th out of 26 teams.
State Tournament Qualification Announcement:
6:53:30
Yarbo:
The Yarbo youtube group - The autonomous snowblower
https://www.youtube.com/@yarboglobal
Spyker:
Spyker Workshop - the RC Snowblower
https://www.youtube.com/@thegreatestmoo
Ferrule videos:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm@20250109 @56:55
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm#20230112 @10:35
Copy flash cards (from ROS Agriculture):
https://www.youtube.com/watch?v=dWHoIJrZajg @13:40-20:00
Index:
00:00 Jeff: Points out links to meeting video index in description below.
00:30 Terry: Mentions his First Robotics team.
01:15 Terry: Talks about his autonomous snow blower/thrower. For previous discussion see
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm#20250102
Mentions other web sites for reference.
04:45 Terry: Shows more of his 3D CAD for his snow blower parts.
Discussion about how it works.
11:00 Al: Asks about the First Robotics objective. Some discussion.
Reference to video of the tournament.
13:10 Al: Mentions using Miro Board for documentation.
14:50 Jeff: Shows the USB-C cable and Drok power supply from Amazon to power RPi.
This was mentioned last week.
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm#20250109
17:10 Jeff: Goes off on a tangent about screw terminals.
21:55 Jeff: "Yes, this will power an RPi4. But an RPi5 requires extra configuration..."
23:40 Jeff: Bob's RPi5/Drok setup to power RPi5.
29:00 Jeff: Mention of crimp on ferrules.
31:35 Jeff: Talks about SDFlasn cards. Various stories.
40:00 Jeff: Complains about the official Raspberry Pi OS. Specifically worthless browsers.
42:10 Jeff: Moves on to loading micro-ros onto ROS2 Jazzy.
44:55 Al: Talks about both ends of mirco-ros. The Teensy end seems to be the problem.
49:10 Al: Comments about SDFlash cards. Jeff talks about unmounting cards.
50:15 Jeff: Was confused about what Al's problem was.
55:15 Terry: Asks differences between micro-ros, ros_serial or just plain serial.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Running Micro-ROS on a Teensy using Arduino IDE.
https://micro.ros.org/docs/tutorials/core/teensy_with_arduino/
Bug report about __locale_ctype_ptr issue.
https://github.com/micro-ROS/micro_ros_arduino/issues/1491
Various links from the Home Brew Robotics meeting.
Responses after meeting:
https://groups.google.com/g/hbrobotics/c/Q9GfWUAG8x8
Camp:
https://github.com/linorobot/linorobot2?tab=readme-ov-file
Michael:
Here’s how I create a custom MicroRos with enhanced resources:
https://docs.google.com/document/d/1zK3SwKIC5RR9f-bLyeXuWuK3pyJO_6_w5IBDYwLBftQ/edit?usp=sharing
And this:
https://docs.google.com/document/d/1YstDMvXV-CNdXFkPmAu3edRpzCSSLczm2AMOBwKAb90/edit?usp=sharing
github:
https://github.com/wimblerobotics/Sigyn/tree/main
Sergei:
https://photos.app.goo.gl/jwYZRtTi1LVshQoW8
https://github.com/slgrobotics/robots_bringup/tree/main
Marco:
https://www.youtube.com/watch?v=Duys_q16pEA
Index:
00:00 Jeff: Points out links to meeting video index in description below.
00:35 Terry: Talks about his autonomous snow thrower. OnShape, CAD model animation.
02:50 Al: Switching from ROS1 to ROS2. RPi5, Teensy 3.1, Micro-ROS. PlatformIO, Micro-ROS with Docker.
08:00 Al: Shows tutorial results of Foxy under Docker.
Says Micro-ROS seems "heavy". Maybe just use simple serial messages instead.
09:00 Al: Comments about powering his RPi5. Differences of versions in Micro-ROS experiments.
10:00 Jeff: Will Micro-ROS talk across different ROS versions?
11:00 Jeff: Talks about what worked and what didn't. Micro-Ros
on 24.04 and jazzy works on ROS without Docker. Can't do any
Arduino compile work without Docker.
12:00 Jeff: Arduino can't find compiler or has undefined references.
Problem appears to be that the precompiled library they supply has to
use the same compiler we are currently trying to use.
19:00 Al: Shows how he used PlatformIO to compile the Teensy code. The message he is referring to is
https://tractorautomation.slack.com/archives/C8X6X6H7D/p1737071653511209?thread_ts=1736798698.213119
if you are on our Slack.
22:50 Jeff: Speculates on not using either Arduino or PlatformIO to compile.
25:40 Al: Again says he may just go with custom serial messages.
25:45 Jeff: Random discussion from the Home Brew Robots meeting. Who is using what...
29:05 Jeff: Posts a lot of links to be put in the description. (See chat section above)
41:35 Jeff: Sums up his progress on Micro-ROS.
42:10 Jeff: Again mentions/speculates compiling without Arduino or PlatformIO.
43:30 Jeff: Complains about the way tutorials are written. (Not that he could do any better...)
Points out he loaded a mismatch of versions since the tutorial was out of date.
45:40 Jeff: Moved on to the Arduino 2.3.4 install and used careful guessing to make it work.
Which ended in the undefined reference. You should re-compile the pre-compiled part.
46:30 Jeff: Talks about ethernet on the Teensy 4.1.
48:20 Jeff: Mentions multiple copies of Micro-ROS running.
49:50 Jeff: Goes on a rant about YouTube uploads to finish off.
(Will I get banned from YouTube if I say YouTube in the description?)
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
"Official" Micro-ROS Teensy Arduino tutorial.
https://micro.ros.org/docs/tutorials/core/teensy_with_arduino/
Aleksander Haber - Install Micro-ROS for Teensy.
https://www.youtube.com/watch?v=SV7DeB7kDZs
Video on u-blox dead reckoning.
https://www.youtube.com/watch?v=gkCmXT_K4nI
Index:
00:00 Jeff: Points out links to meeting video index in description below.
00:30 Jeff: Talks about Micro-ROS experiences.
00:45 Jeff: Original Arduino 1.8.19 on laptop. Failure.
01:20 Jeff: Arduino 2.3.4 on laptop. Failure/success.
03:35 Jeff: Install Arduino 2.3.4 on RPi4.
Failed since Arduino doesn't support ARM for 2.x
04:45 Jeff: It was suggested to load Arduino 1.x on RPi.
That loaded and ran. But I decided I may have the
same AMD64/ARM64 problem with the Teensy installers.
So I didn't have the patience to find out. So I moved on.
05:25 Jeff: Mentions the Micro-ROS discussion at HBRC meeting.
Although I think it was the week before that had the long discussion. Recap/links here:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm#20250123
05:45 Jeff: Again tried to load Arduino 1.8.19 on laptop. Failure again.
06:25 Jeff: Attempted to follow video tutorial from Aleksander Haber video.
(That Bob had posted to Slack.) Failure/success.
10:15 Al: Asks about compiler versions. (while we are waiting to Arduino to load)
12:30 Arduino has loaded...
Downgrading and patching.
14:45 Jeff: Be careful, because it offers to "help you" with new "updates".
16:45 Jeff: It works. And a recap of what worked.
18:25 Jeff: A few more obscure comments on installing.
21:50 Jeff: Again asks what is Micro-ROS and how would you use it.
22:45 Al: Mentions compiling Micro-ROS with Docker and made it work.
Shows some details on compiling Micro-ROS with PlatformIO.
28:10 Al: Talks about NavSpark GNSS boards.
Also talks about dead reckoning.
Al shows the video.
39:30 Jeff: Mentions that the robot_localization nodes may give similar results.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Index:
00:00 Jeff: Points out links to meeting video index in description below.
01:25 Jeff: Talks about people switching to ROS2 on Raspberry Pi.
01:55 Jeff: The problem of which board, which OS version, which ROS version.
They all have to match.
04:15 Jeff: The Docker container path.
05:30 Jeff: Docker vs. virtual machine.
06:00 Jeff: A laptop with Ubuntu 20.04, ROS1 Noetic, ROS2 Foxy.
06:45 Jeff: Run ROS1, or run ROS2, or run them both at the same time.
(ros1_bridge)
08:25 Jeff: Or connect two computers together.
09:45 Jeff: OS support always "catching up" with next version of Raspberry Pi.
16:30 Jeff: Summarizes "Version Hell".
17:40 Al: Comments on "Version Hell".
18:20 Al: Talks about his Raspberry PI 5.
18:40 Jeff: Asks if Al has tried his external battery to power his RPi5.
21:10 Comments about attending/missing the HBRC meetings.
23:50 Jeff: Asks about availability of drivers for ROS2.
28:30 Al: Shows a "dead reckoning" GPS receiver he ordered.
(uBlox EVK-M9DR) Also see last week's meeting.
31:45 Al: Talks about a computer vision experiment to monitor farm status.
36:10 Al: Mentions his linear actuator to control his hydrostatic transmission.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al's gist channel: https://gist.github.com/jones2126
Short cut keys.
Mozilla/Firefox
https://support.mozilla.org/en-US/kb/keyboard-shortcuts-perform-firefox-tasks-quickly
Linux terminal/bash
https://linuxsimply.com/linux-bash-terminal-keyboard-shortcuts/
gedit/gnome
https://help.gnome.org/users/gedit/stable/gedit-shortcut-keys.html.en
Home Brew Robotics Club mailing list.
https://groups.google.com/g/hbrobotics
You can subscribe to that and select digest mode.
Thomas Messerschmidt FemBots
https://www.youtube.com/@Robots-and-androids
Index:
00:00 Jeff: Points out links to meeting video index in description below.
01:30 Al: Talks about "Dead Reckoning" GPS receivers. uBlox EVK-M9DR and SkyTraQ (Navspark) PX1172RDP
03:15 Al: Back to using SkyTraQ. And test method. https://gist.github.com/jones2126/com6tocom10.py
04:10 Al: Using 3DR radios for correction data. Notes on baud rates.
08:35 Discussion of "Air Plane Mode" vs. WiFi and Bluetooth on Ubuntu Linux.
10:20 We discuss the copy/paste issues In Ubuntu that Bob was posting about.
26:30 Al: Asks about Home Brew Robotics Club ROS meeting schedules.
27:50 Mention of the HBRC AI group. (maybe Thursday nights?) Thomas Messerschmidt
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al's gist channel: https://gist.github.com/jones2126
Index:
00:00 Jeff: Points out links to meeting video index in description below.
00:30 Al: Quick update on his SkytraQ (Navspark) PX1172RDP "Dead Reckoning" GPS receiver.
25 Hz update rate.
Works better with L1/L2 corrections as opposed to L1/L5.
03:00 Al: Video about frame modifications.
https://tractorautomation.slack.com/archives/C8X6X6H7D/p1740066091248449
Linear actuator for hydrostatic transmission control.
More random discussion about mounting things.
10:40 Al: Revisiting a kill switch for the engine.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al's gist channel: https://gist.github.com/jones2126
Al: PCB Cad system.
https://easyeda.com/
AL: Al's CAD project.
https://cad.onshape.com/documents/950c6a38b11772edc3c3e657/w/da7af5b45a56c817cf16e3b[…]13c7acac20db1fd?renderMode=0&uiState=67bf572bdc26402a1721a736
Index:
00:00 Jeff: Points out links to meeting video index in description below.
00:50 Terry: Talks about OnShape 3D CAD for his "snow thrower" he is designing.
02:50 Terry: Custom designed encoder wheel/sensor to detect impeller rotation.
03:20 Al: Asks about "tabs". Discussion of tabs and subfolders in OnShape.
04:05 More discussion of OnShape terms, definitions, and concepts.
08:10 Jeff: Mentions I/R transparent plastic.
10:30 Designing PC boards with OnShape?
14:25 Terry: Talks about problems with high humidity 3D filament.
Stringing vs. flaking.
17:45 Al: Asks if OnShape will create an STL file.
19:15 Al: Talks about his mounting brackets for version 3 lawn tractor.
20:25 Al: Is learning OnShape to do his modeling.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al's gist channel: https://gist.github.com/jones2126
ItsyBitsy boards:
https://www.adafruit.com/search?q=itsy
Index:
00:00 Jeff: Points out links to meeting video index in description below.
00:45 Terry: Talks about his 3D CAD design for his quadrature encoder.
06:00 Terry: Other things to add.
ItsyBitsy microcontroller, motor control board, addressable LEDs for status.
08:35 Al: Talks about his 3D CAD work.
He is planning to have his parts fabricated on a plasma cutter.
17:40 Al: Suggests that somebody back up our Slack channel before the 90 day cutoff.
Jeff plays with the Slack download.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al's gist channel: https://gist.github.com/jones2126
The links for the Slack backups:
Main directory:
http://sampson-jeff.com/RosAgriculture/slack_exports/
Direct links:
http://sampson-jeff.com/RosAgriculture/slack_exports/20180123-20240403/Slack%20Export%20-%20%23random.html
http://sampson-jeff.com/RosAgriculture/slack_exports/20240402-20241212/Slack%20Export%20-%20%23random.html
http://sampson-jeff.com/RosAgriculture/slack_exports/20241211-20250306/Slack%20Export%20-%20%23random.html
Al's parts list link:
https://1drv.ms/x/s!AlSRhxzgYnAlk55diWpbH-4WO_P16Q?e=wfdTpq
Links mentioned for ArduSimple Blog/News articles:
Main blog index:
https://www.ardusimple.com/blog/
Specifically:
https://www.ardusimple.com/allband-vs-quadband-vs-tripleband-the-real-difference/
https://www.ardusimple.com/comparison-of-u-blox-zed-f9p-and-x20p/
https://www.ardusimple.com/new-product-simplertk4-optimum-with-u-blox-zed-x20p/
Random links for "apriltags":
https://wiki.ros.org/apriltag_ros
https://wiki.ros.org/apriltag_ros/Tutorials
https://automaticaddison.com/autonomous-docking-with-apriltags-using-nav2-ros-2-jazzy/
https://www.youtube.com/watch?v=Y8WEGGbLWlA
Index:
00:00 Jeff: (Forgets to mention the links below the video.)
Mentions he is about to start moving to a new home.
00:40 Jeff: Talks about the third Slack backup chunk.
So we have back to the start of this groups Slack channel (2021?).
See the links in the Chat/Notes section above.
04:20 Al: Talks about version 2 of his remote control.
06:50 Jeff: Has suggestions on the usage of the speed control pot.
08:25 Al: Says he has a switch to solve that problem.
11:00 Some discussion about how the E-Stop button works.
Does it it latch the stop request? Or is it momentary?
15:20 Al: Fusion 360 CAD designs and summary of his new plasma cut frame brackets.
17:30 Al: Has figured out how model a tire in Fusion 360.
He also figured out how to add a rim to his tires.
20:35 Jeff: Mentions an announcement from Ardusimple.
New uBlox TripleBand/MultiBand/AllBand receiver.
Blog posts that explain that. (See links in Chats/Notes above)
21:50 Al: Talks about "april tags" that Terry mentioned last time.
22:25 Jeff: Found the references to Ardusimple and presents that.
27:50 Jeff: Bailed on HBRC "anything ROS" meeting.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al's gist channel: https://gist.github.com/jones2126
Index:
00:00 Jeff: Points out links to meeting video index in description below.
Jeff is moving out in about a week and a half.
00:40 Terry: Shows his CAD models.
He is a adding a cover over his quadrature encoder.
05:15 Discussion of various types of 3D printing filaments.
08:15 Terry: Explaining more details.
09:30 Al: Talks about his custom plasma cut parts.
14:50 Al: Mentions his radio control PCB, and actuator placement.
15:20 Al: Mentions creating tires in 3D CAD.
15:30 Al: Talks about a custom cut disk with an induction sensor.
17:45 Jeff: Questions the shaft diameter.
18:15 The induction (proximity) sensor that Al wants to use.
19:35 Al: Asks about Jeff's new Internet provider.
20:50 We look at some motors. (is now updated)
22:25 Al: Asks about mounting the shaft encoder disk.
Brass inserts for 3D printed parts.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al's gist channel: https://gist.github.com/jones2126
Index:
00:00 Jeff: Points out description, index and links below the video on YouTube. (is now updated)
00:45 Jeff: Says he is forced to move and is continuing with that.
01:10 Al: Shows a proposed layout for his next version of his lawn tractor electronics.
03:20 Al: Shows his lithium ion battery pack.
05:10 Comments about the IBT_2 motor driver board.
06:25 Comments about the big battery disconnect switches.
08:00 Similar problem with some of the e-Stop switches.
09:20 Jeff: Makes comments about our attempt to back-up the Slack pages.
16:45 Jeff: Asks about Al's electronics panel mounting technique.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al's gist channel: https://gist.github.com/jones2126
Index:
00:00 Jeff: Points out links below YouTube video. (is now updated)
00:40 Jeff: Gives update on moving out and moving in.
03:35 Terry: Can't get PETG filament to work on his 3D printer.
Went back to PLA filament.
04:00 Terry: Shows his quadrature encoder brackets he made.
And shows his progress on his snow thrower head.
12:40 Al: His new electronics panel.
Communication/programing discussion.
OAK camera.
20:50 Al: Effects of battery voltage.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al's gist channel: https://gist.github.com/jones2126
Index:
00:00 Jeff: Comments about links below the video. (is now updated)
Comments about moving and trying to rebuild my life.
00:30 Terry: Talks about 3D printing and his quadrature encoder testing.
01:35 Terry: Demo of his motor encoder using a logic analyzer.
09:10 Discussion of pulse rate.
10:50 Al: PC Problems.
DDR4 RAM memory problems.
12:05 Al: GNSS base station modifications.
Raspberry Pi 3. Power module. Getting 3 UARTs on RPi3.
14:10 Jeff: Stories about moving.
15:15 Jeff: New Internet connection.
20:00 Jeff: How do I put life back in order?
20:20 Jeff: Tour of my new "world" and how it will affect robot projects.
27:35 Some discussion about Internet availability.
36:05 Jeff: Will GPS work in the new location?
36:15 Jeff: They also wanted to give a 1-year plan for free.
More discussion about cable provider options/gimmicks.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al's gist channel: https://gist.github.com/jones2126
Index:
00:00 Jeff: Mentions about lack of descriptions below video. (is now updated)
Comments about moving and trying to rebuild my life.
Bob also moved and we will be hearing random moving updates from him.
01:05 Jeff: Follow-on from last week. New experiments.
01:15 Jeff: Record all GPS and play it back.
03:25 Jeff: Record all sensors and create a raster topographic map.
05:20 Jeff: Work on a clean start-up procedure.
07:40 Jeff: Maybe my motor encoder has a problem?
09:00 Al: Talks about parts for his next generation lawn tractor control.
12:05 Al: Is looking at RTK2GO to send his RTK correction messages.
15:55 Bob: Talks about AprilTags for localization.
16:55 Bob: Attempts to share his screen...
19:05 Bob: Gives up on screen sharing and holds things up...
Holds up a motor from his Barbie jeep.
20:05 Bob: Talks about road construction in front of his new house.
And more "new house" updates.
23:50 Discussion of AprilTags.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al's gist channel: https://gist.github.com/jones2126
Comment in RTKLIB Explorer:
https://rtklibexplorer.wordpress.com/2020/12/18/building-rtklib-code-in-linux/
Comment on January 21, 2021 at 9:24 am
Link to Al's code:
https://gist.github.com/jones2126/c4296ad9ce07ecba6ef4a1d4382bd4b7
Index:
00:00 Jeff: Mentions about lack of descriptions below video. (is now updated)
00:35 Jeff: More moving stories.
03:05 Al: Talks about his RTK GPS progress.
09:40 Jeff: Talks about sending a fixed location vs. sending the actual GPS location (In RTK-Lib, see chat).
16:45 Al: Posts a link to his code he is playing with (see chat).
21:05 Jeff: Mentions what RTK2GO is.
22:55 Bob: Asks how long it takes to figure out RTK GPS.
25:50 Bob: Explains pictures of his new "small" Barbie jeep.
33:10 Bob: Stories about his new house.
37:40 Al: Asks about testing/comparing GPS antennas.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al's gist channel: https://gist.github.com/jones2126
Index:
00:00 Jeff: Mentions about lack of descriptions below video. (is now updated)
02:00 Jeff: Noticed that MPJA is going out of business.
08:10 Jeff: Projects that I may start. IMUs?
12:00 Jeff: A quick first test.
12:15 Jeff: Wild turkeys.
13:00 Jeff: Add a camera?
13:45 Al: Is working on getting correction data from his base station to his rover (lawn tractor).
14:25 Al: Description of his new base station architecture.
15:10 Al: Some discussion about the messages he generates and transmits.
18:25 Jeff: Asks which GPS receiver is being used on the base station.
18:55 Al: Talks about some antenna comparison/testing. (See previous meeting @37:40.)
21:15 Al: Talks about learning (and documenting) binary output messages from his GPS receiver.
24:20 Bob: Talks about his new house.
24:40 Bob: Talks about his miniature "Barbie" jeep project.
25:10 Bob: Attempts to share his screen...
27:50 He got his camera to share...
Shows us parts of his robot.
30:15 Al: Asks about pricing of the metal parts.
32:10 Bob: Goals for next week.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al's gist channel: https://gist.github.com/jones2126
LimeLight camera:
https://limelightvision.io/
If you have an Oak-D camera:
https://duckduckgo.com/?q=oak-d+camera+apriltag+tags&t=ffab&atb=v343-1&ia=web
"Cat Tracks"
https://duckduckgo.com/?t=ffab&q=cat+track+wireway+cable+management&ia=web
Index:
00:00 Al: Quick introduction. Gives some updates.
00:20 Al's panel layout for second version of lawn tractor.
01:14 Slightly newer version of same panel.
Has a big relay and 4-channel relay board.
03:55 Some discussion of the parts and functionality.
05:20 A newly received Molex connector kit.
05:55 Al has succeeded in printing multiple parts at once.
Fusion360 slicer works better than what he used originally.
06:50 More discussion about the electronics panel.
10:40 Bob: Shows his electronics module.
14:35 Bob: Talks about AprilTags.
14:45 Bob: Talks about moving into his new house.
15:25 Terry: Gives updates.
16:10 Terry: Talks about his First Robotics team.
19:40 Terry: Talks about LIMELIGHT cameras.
30:00 Some discussion about OnShape CAD.
More discussion about the First Robotics team.
44:00 Jeff: Mentions that Oak-D cameras appear to do AprilTags.
45:10 Jeff: Update on "moving in" progress.
47:50 Jeff: Asks if Al found out the length of the filament spools.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al's gist channel: https://gist.github.com/jones2126
ROSCON video archives:
https://www.youtube.com/@gogogadgetflow2777/videos
Search that brought up the videos in question:
https://duckduckgo.com/?t=ffab&q=imu+navigation+dead+reckoning&ia=web
Remote access GUI software:
https://www.nomachine.com/
Index:
00:00 Jeff: Story of finding a hard drive and mention of description/links below video.
03:10 Jeff: Points out a YouTube channel with ROSCON archives.
10:00 Jeff: It is time to back-up the Slack channel again.
10:20 Jeff: Bought a BlueTooth bathroom scale.
Another thing to try to reverse engineer it's BlueTooth protocol.
11:40 Jeff: Organizing; move tables around.
12:30 Al: The YouTube videos that were mentioned.
14:00 Al: Asks to click on a MatLab video.
17:10 Jeff: Mentions the original search that brought up all these interesting bits.
19:30 Al: Is 3D printing brackets for his new Molex connectors.
21:50 AL: Gives a list of software for remote access.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al's gist channel: https://gist.github.com/jones2126
Remote access GUI software:
https://www.nomachine.com/
Index:
00:00 Jeff: Says he is mostly caught up on Internet maintenance.
A Slack problem and how he fixed it.
Proposed enhancements for common link section.
08:05 Jeff: Explanation of the links at the bottom.
12:45 Jeff: Fighting with Slack to stay current.
16:50 Jeff: Thinks about documentation techniques.
(Apparently the screen sharing should have been turned off...)
18:10 Screen sharing gets turned off and a notebook is manually shown.
20:35 Bob: Wants to use "NoMachine" (like RealVNC) to get remote access.
23:35 Bob: Describes his RPi5 hardware setup.
24:30 Bob: Stories about his new house.
24:45 Jeff: Asks about the Blue Tooth keyboard connection.
31:15 Bob: Shows us his small on-screen keyboard.
32:20 Bob: Attempts to log-in with nomachine.
35:15 Al: Is going to run through the steps to start nomachine.
45:15 Al: Is assembling his remote control board.
Also shows the lawn tractor end.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al's gist channel: https://gist.github.com/jones2126
Home Brew Robotics Club links:
https://www.hbrobotics.org/
https://www.youtube.com/user/hbrobotics/featured
https://www.hbrobotics.org/index.php/meeting-archive/
https://www.youtube.com/watch?v=2SdPiJxo5wg
AI pair programming in your terminal https://aider.chat
Dallas Personal Robotics Group links:
https://www.dprg.org/
https://www.youtube.com/@DPRGclips/videos
Index entry for problem of which board, which OS version, which ROS version:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm#20250206
Index:
00:00 Jeff: Mention of the video index (chapters) and links below this video.
01:00 Jeff: Some thoughts on our Slack back-up attempts.
03:25 Jeff: Fixing the delinquent meeting descriptions on Slack.
07:55 Al: Asks about merging the multiple Slack back-ups into a single file.
(No, not easily.)
And some extra discussion on the old ROS Agriculture videos and my index for those.
15:00 Jeff: Talks about the latest Home Brew Robotics Club meeting video.
17:50 A short look at Dallas Personal Robotics Group.
19:35 Jeff: Goes over the problem of which board, which OS version, which ROS version.
22:40 Jeff: Update on organization after moving.
26:10 Jeff: Summary of recent accomplishments.
26:40 Jeff: Parts lost in the move.
And alternatives.
30:10 Al: Shows his new remote control system.
34:45 Jeff: Asks why the remote control would not originally communicate.
37:20 Al: Quick show-and-tell of the remote control.
38:20 Discussion of batteries.
42:20 Quick indication of signal quality.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al's gist channel: https://gist.github.com/jones2126
HBRC thread about abandoning Micro ROS:
https://groups.google.com/g/hbrobotics/c/F5V5r3wdyU0
Michael's main github page:
https://github.com/wimblerobotics/Sigyn/tree/main
The significant parts to replace Micro ROS:
https://github.com/wimblerobotics/Sigyn/tree/main/sigyn_to_teensy
https://github.com/wimblerobotics/Sigyn/tree/main/teensy_to_sigyn
And dig through the github for launch files and maybe configuration...
A newer thread about this:
https://groups.google.com/g/hbrobotics/c/9nPrywR6Jqg
(Or better yet, subscribe to this Google group as a digest.
Then you can keep up to date on what people are doing.)
Al: Github for embedded code that will run on my autonomous lawn tractor:
https://github.com/jones2126/tractor2025
Index:
00:00 Jeff: Mention of the video index (chapters) and links below this video.
00:35 Jeff: Raspberry Pi 4, random comments.
01:30 Jeff: The "lost" Raspberry Pis.
My original Raspberry Pi robot. (RPi2)
03:30 Jeff: HBRC thread about abandoning Micro ROS.
05:50 Jeff: What I need to do to get my robot publishing again.
08:50 Jeff: Raspberry Pis are still lost...
09:10 Al: Dug through Michael Wimbal's github while Jeff was talking.
10:55 Al: Talks about his linear actuator.
13:45 Al: Talks about his radio control.
17:40 Bob: Talks about his Raspberry Pi 5.
He has a new remote control receiver.
A new motor driver board.
23:10 Al: Use case; Harassing varmints.
26:00 Jeff: Talks about Bob's new motor driver board.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al's gist channel: https://gist.github.com/jones2126
Index:
00:00 Jeff: Intro
00:20 Jeff: Talks about Bob's recent motor driver board.
Suggestion to create a signal convertor for different boards.
03:05 Jeff: Holds up a board that has FwdPWM/RevPWM.
Suggestion of microcontroller (like an Arduino) to convert signals.
04:00 Jeff: You could create an R/C test signal with an Arduino and a potentiometer.
04:10 Other ways to create the required R/C test signal.
08:10 Bob: Got his remote stop circuit working.
Gives a demo.
10:15 Bob: Shows his web CAM displaying live video.
The camera will be for AprilTags.
12:35 Bob: Has mysterious bright blobs on his video screen.
We try to determine if they are from UFOs or ghosts or glare or a bad camera...
13:45 Jeff: Asks about Bob's stop circuit.
15:50 More discussion about the bright spots in the video.
19:20 Bob: Talks about upcoming life events.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al's gist channel: https://gist.github.com/jones2126
IBT-2 board.
https://www.amazon.com/HiLetgo-BTS7960-Driver-Arduino-Current/dp/B00WSN98DC/ref=sr_1_5
Datasheet for BTS7960 driver chip.
https://www.infineon.com/dgdl/BTS7960_Datasheet.pdf?folderId=db3a304412b407950112b408e8c90004&fileId=db3a304412b407950112b43945006d5d
Bob's new board.
https://www.amazon.com/DC5-12V-Dual-Channel-H-Bridge-Stepper-Controller/dp/B074TH1719/ref=sr_1_3
Cytron MD10C.
https://www.amazon.com/Cytron-13A-Motor-Driver-MD10C/dp/B07CW3JZDH
Cytron MD30C.
https://www.amazon.com/Cytron-30A-Motor-Driver-MD30C/dp/B07L6HGFWY/
TimerOne() library.
https://www.pjrc.com/teensy/td_libs_TimerOne.html
Jeff's oscilloscope.
https://www.amazon.com/Sds7102v-Channel-Oscilloscope-2-channel-Interface/dp/B00GP58T5C
Index:
00:00 Jeff: Intro
00:50 Jeff: Talks about a motor controller conversion project.
01:20 Bob's new board. (DBH-12V on Amazon)
04:10 Jeff: Another board that Jeff and Al have. (IBT-2 on Amazon)
05:20 Jeff: Another board that Jeff has. (Cytron MD10C on Amazon)
Another board that Jeff and AL have. (Cytron MD30C)
06:10 Jeff: More details on the IBT-2 driver board.
07:10 Jeff: Differences between Arduino AnalogWrite() and TimerOne() library.
07:25 Demo of power steering motor using AnalogWrite function.
10:05 We compare the AnalogWrite() to TimerOne() function.
16:20 Jeff: More details on the IBT-2 driver board.
Thermal issues, bent pins, heatsink shorts.
18:50 The Cytron boards don't use heatsinks.
More discussion of heat management on other boards.
21:05 Jeff: Shows his oscilloscope for possible documentation uses.
23:50 Jeff: Brief overall description of the motor driver convertor project.
26:00 Al: Makes comments on oscilloscope.
26:20 Al: Says his Cytron board also makes his motor squeal, but Jeff says any driver will squeal...
27:00 Al: Is always on a quest to get more resolution...
27:50 Al: Shows pictures of his hardware progress.
Transmission control.
31:15 Al: Moves on to his steering control.
32:35 Jeff: The 5 volt connection.
34:00 A quick look at Al's code.
And some diagrams.
37:25 Al: Next steps.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al's gist channel: https://gist.github.com/jones2126
Bob's new board.
https://www.amazon.com/DC5-12V-Dual-Channel-H-Bridge-Stepper-Controller/dp/B074TH1719/ref=sr_1_3
Dronebot video.
https://www.youtube.com/watch?v=ygrsIqWOh3Y
The result page Bob posted for cheap oscilloscopes.
https://products.bestreviews.com/best-oscilloscope-kits?cid=17571377514
EEV Blog channel on YouTube.
https://www.youtube.com/@EEVblog (watch the full intro video)
EEV Blog oscilloscope tutorial playlist.
https://www.youtube.com/playlist?list=PLvOlSehNtuHsCTtj-T_vkpTTbBXW4sB51
The guy with the Swiss accent.
https://www.youtube.com/@AndreasSpiess
https://www.youtube.com/@AndreasSpiess/search?query=oscilloscope
Way to find random tutorial links.
https://www.youtube.com/results?search_query=oscilloscope+tutorial
Other:
https://www.youtube.com/watch?v=puWXEqVQ4Yk ($125 scope)
Index:
00:00 Jeff: Intro/Links
00:55 Jeff: We start talking about Bob's new board.
Quickly devolves into complaining about Amazon marketing practices.
04:40 DroneBot video about various motor driver boards.
08:08 Warning about PWM limit and voltage pins.
13:15 Digging into the IBT-2 board not having a 5-volt supply.
25:10 Be careful of shorting out boards.
28:25 A tour of a motor driver setup.
30:30 Jeff: Pros and cons of different techniques.
35:50 Jeff: Creating you own servo pulse.
38:20 Jeff: Decoding RC pulse and running a motor.
40:50 Jeff: Theories on building a cheap scope.
45:45 Jeff: Bob had asked about cheap oscilloscopes.
46:15 We click on each one to see the details.
58:30 We look for Jeff's scope for reference.
1:08:25 We look for a couple of references to tutorials, definitions, recommendations.
1:15:25 Topics next week?
1:16:00 Why your driver board may burn up (if over 98% PWM).
1:18:30 Difference between PWM and PWM...
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al's gist channel: https://gist.github.com/jones2126
Video on IBT-2 current sensing
https://www.youtube.com/watch?v=JaOuOL1J4-E
Video on IBT-2 driver board testing (He has thermal tests on other boards)
https://www.youtube.com/watch?v=Q7K8_nZU4mY
Al's PWM code
https://github.com/jones2126/tractor2025/blob/main/teensy35_IBT2_PWMtest/src/main.cpp
Al's proximity test code
https://github.com/jones2126/tractor2025/blob/main/teensy35_proximity_simple_test/src/main.cpp
USB Type C PD Pigtail Cable - 18AWG
https://www.amazon.com/XMSJSIY-Transmission-Extension-Charging-18AWG-1-2M/dp/B0C1YXM9PF
Open CV tutorials
https://youtu.be/yGOWlflK3IM?si=ylu0Z_057dNSt8nH
https://youtu.be/Pm6JYAaLCPA?si=KNOOHVmQo4xnxikJ
Index:
00:00 Jeff: Intro/Links
00:30 Jeff: Talks about cables and connectors.
02:40 Al: Shows the cables he was making.
04:00 Al: Shows his 3D printed encoder wheel.
05:00 Al: Shows a steel encoder wheel he is proposing.
08:25 A hub for an encoder wheel.
10:15 Maybe just bolt the encoder disk to the inside of the back wheels.
13:05 Al: Shows some code to read his inductive sensors.
14:40 Al: Talks about code to drive his motors.
16:30 Al: Gives a walk-through of his current control board.
18:10 Jeff: Makes comments about poking at live circuits with metal objects...
19:40 Bob: Talks about changes to his small robot.
20:10 Bob: Is looking at computer vision.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al's gist channel: https://gist.github.com/jones2126
Al's github pages that are mentioned:
https://github.com/jones2126/tractor2025/blob/main/BridgevilleRTKBase/README.md
https://github.com/jones2126/tractor2025/blob/main/tractorRPi5/f9p_rtcm_client_071525.py
https://github.com/jones2126/tractor2025/blob/main/BridgevilleRTKBase/rtcm_server_0714.py
Flashing light column:
https://www.amazon.com/LUBAN-Industrial-Rotatable-Flashing-Switchable/dp/B09X163JML
Links to Jeff's beacon on ROS Agriculture.
I found these on the ROS Agriculture index by searching for "beacon":
07022019 Community Meeting @4:40-6:20 https://www.youtube.com/watch?v=cf_l4b5_f6U
07122019 Lawn Tractor Meeting @7:00-27:00 https://www.youtube.com/watch?v=kZkRv-ihn9o
07242019 Community Meeting @19:25-42:35 https://www.youtube.com/watch?v=I1xGBc-KcXs
08022019 Lawn Tractor Meeting @9:15-14:50 https://www.youtube.com/watch?v=JvzchYUuCJA
LED status strip on ROS Agriculture.
10192018 Lawn Tractor Meeting @45:30-49:10 https://www.youtube.com/watch?v=Sk8UloXSHSI
07262019 Lawn Tractor Meeting @39:05-43:15 https://www.youtube.com/watch?v=b4GBtTtsa5g
Actual demo
07302019 Community Meeting @42:35-46:30 https://www.youtube.com/watch?v=NAOeOLpYAuI
Controlling lights over Internet.
https://www.youtube.com/watch?v=NtAEMZTzFNU
Index:
00:00 Jeff: Intro/Links
00:30 Jeff: Talks about cables and connectors.
01:45 Jeff: Some comments about flashing beacons.
02:30 Jeff: Makes a second attempt at explaining why he doesn't have a wiring/jumper demo ready.
Maybe an upcoming external video.
08:40 Al: Has new GPS receivers. Ardusimple uBlox F9P
13:05 Jeff: Says he is using the same uBlox boards.
14:50 Jeff: Points out that some of the links posted to Zoom chat are wrong.
(We figured it out after we stopped recording...)
19:00 Al: Shows us some github documentation. And some code.
22:05 Jeff: Asks about reducing data that is being sent.
29:40 Al: Talks about a flashing light column.
32:50 Al: Next steps for his new GPS boards.
33:55 Jeff: Asks Al to show the picture of Jeff's beacon we made earlier.
Jeff: Shows his beacon flashing.
42:05 Bob: Has "nomachine" running on his RPi5.
43:05 Bob: Talks about trying to drive R/C servos from RPi5.
45:00 Bob: Talks about remounting his RPi5 on a board.
47:00 Al: Says "nomachine" may not work as well as expected.
47:50 Bob: Says it might be possible to control RPi5 GPIO over the Internet. (See video in chat section.)
48:40 Bob: More about remounting his RPi5.
52:15 Jeff: Asks if Bob has any Arduino type boards lying around. (For alternative control.)
55:40 Drilling out the holes on a Raspberry Pi is revisited.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al's gist channel: https://gist.github.com/jones2126
LED strip connectors
https://www.amazon.com/dp/B0D17GZR9Q?ref=ppx_yo2ov_dt_b_fed_asin_title&th=1
LED clock without cutting LED strips
https://www.youtube.com/watch?v=r_yobwaBWr0
Random examples of electronics paste/liquid flux
Liquid flux
https://www.amazon.com/Liquid-Dropper-Soldering-Electrical-Electronics/dp/B0CN29BZKV?s=hi
Solder flux pen
https://www.amazon.com/Solder-Liquid-Soldering-Electrical-Electronics/dp/B0CBT3KQDF?s=hi
General search
https://www.amazon.com/s?k=rosin+soldering+flux&i=tools
Video Bob found for R/C servos on RPi. First half is running from GPIO. Second half uses Ada Fruit PWM board
https://www.youtube.com/watch?v=oeLmbXrHi_c
Another random video for Ada Fruit PWM board - He loads and configures the RPi 4 from scratch.
https://www.youtube.com/watch?v=-x2EEIUMm6A
Index:
00:00 Jeff: Intro/Links
01:10 Jeff: Says he will stop committing, since he won't do it anyway.
01:35 Jeff: Found some robot parts, but hasn't done anything with them.
01:50 Al: Makes comments on Bob's "error: externally-managed-environment" Python issues.
04:30 Al: Is attempting to use solar power for his GPS base station.
05:55 Al: Is attempting to connect the RS232 port on his Renogy Charge Controller.
08:45 Al: Doesn't work... Begin debugging.
17:20 A discussion of pinout vs. of the diagram ensues.
(The day I am looking at this. It looks like if you flip
the board over then the order of pins is correct. So it
looks to me like the hand drawn diagram from the github is wrong...)
22:55 Other configuration?
26:15 The Blue Tooth module for the Renogy controller.
28:40 Comments about oscilloscopes...
31:00 Al: Bought some connectors for LED strips.
32:50 Jeff: Has a story about mounting LED strips on edge so you don't have to cut them.
And suggests getting a can of Rosin paste flux for soldering.
38:25 Jeff: Other videos on YouTube about basic electronics.
39:15 Bob: Is trying various methods to run R/C servos on a Raspberry Pi.
41:10 Bob: Python and environments.
49:25 Bob: Needs to safely save his code changes.
49:45 Bob: Next steps.
50:25 Jeff: (Incorrectly) states that you might be able to run each half of the PCA9685 at different frequencies.
51:25 Jeff: Makes comments about saving data.
54:55 Bob is going to post some code to our Slack channel. (Slack link is in description below video.)
55:20 Jeff and Al: discuss Slack channel backups.
57:30 Jeff: Talks about the RPi not doing exact timing for GPIO.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al's gist channel: https://gist.github.com/jones2126
Some random links to cheap oscilloscopes
https://www.instructables.com/OscilloPhone-Use-your-Smartphone-as-an-Oscilloscop/
https://electronics.stackexchange.com/questions/307545/how-can-i-use-my-smartphone-as-an-oscilloscope
https://www.hackster.io/mircemk/diy-simple-500khz-oscilloscope-with-stm32-arduino-ide-a06cd1
https://apps.apple.com/fr/app/oscilloscope/id388636804
https://www.amazon.com/Oscilloscope-Signal-Generator-Digital-Portable/dp/B0C8D6VJ1L?th=1
Maybe those plastic boards are like these
https://www.menards.com/main/building-materials/siding/trim-boards/1-x-12-white-reversible-pvc-trim-board/1429239/p-1642874329079925-c-13411.htm
A link to Sintra plastic
https://lairdplastics.com/all-products/pvc-sintra/
Index:
00:00 Jeff: Intro/Links
00:30 Jeff: Changes to Slack meeting notices.
Instead of including the description, it will show a link to the composite index file.
02:15 Jeff: Randomly comments.
Finding lost stuff.
LED filament bulbs.
03:25 Thoughts on cheap oscilloscopes.
05:40 Al: Makes comments about cheap oscilloscopes.
08:00 Al: Talks about his solar powered GPS base station.
08:35 Al: Wants to read and log data from his solar controller module.
And log some extra stuff.
He shows some examples of logged data.
14:50 Al: More about his scripts for data logging.
15:40 Al: Correction data and where it goes.
16:45 Jeff: Suggests letting the F9P receiver do the heading calculation.
Instead of doing it by hand.
Configuration steps a discussed.
29:25 Jeff: Asks how Al is getting the messages out of the F9P.
35:30 Al: Shows more of his documentation pages.
36:40 Jeff: Needs to get his robot placed so the GPS will work at moments notice.
And suggests the blog at ArduSimple is a valuable resource.
40:50 Jeff: Talks about some plastic like boards he found in the trash.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al's gist channel: https://gist.github.com/jones2126
Raspberry Pi Radio
https://www.youtube.com/watch?v=fNDwsSGvWSI
Search for Dupont2.54 Pre-Crimped Cables and Connectors Kit
https://www.amazon.com/s?k=Dupont2.54+Pre-Crimped+Cables+and+Connectors+Kit
Random Amazon parts (not necessarily the cheapest, do your own comparisons)
3.2" LCD display
https://www.amazon.com/dp/B0BNQD38T2?th=1
Raspberry Pi Pico
https://www.amazon.com/dp/B0BDLHMQ9C
https://www.amazon.com/dp/B0B5H17CMK
STM32F411CEU6
https://www.amazon.com/dp/B0DLNDY4V7
https://www.amazon.com/DWEII-Development-STM32F411CEU6-MicroPython-Programming/dp/B09V7GCMRX
On the go adapters
https://www.amazon.com/dp/B0DR7Y5MQS
On the go cable with charging input
https://www.amazon.com/dp/B08C5FWQND?th=1
XR2206 Function Generator
https://www.amazon.com/dp/B08SMB6DRM?th=1 (these ranged from $8-$12)
My original "Measuring Stick" project
20231221 ROS Lawn Tractor Automation meeting - Length 1:06:01
https://youtu.be/m6fR3aVBaQs
Al's current lawn tractor documentation
https://github.com/jones2126/tractor2025
Two ArduSimple F9P receivers doing moving baseline with CORS correction (for Al to make fun of)
https://www.youtube.com/watch?v=QNQJIevoI0Y
Index:
00:00 Jeff: Intro/Links
01:25 Jeff: Goes through some of the steps to publish the weekly meeting videos.
And why it currently refuses to work right.
12:00 Jeff: Why I think we have 4-1/2 years instead of 3 years.
14:55 Jeff: Summary: Slack or YouTube is broken.
15:40 Jeff: Discussion of flat screen TVs as computer monitors.
20:55 Jeff: Follow-up from last week. Get GPS running again.
22:35 Jeff: Talks about pre-crimped Dupont jumper wire kits on Amazon.
36:40 Jeff: Parts from Amazon.
48:45 Jeff: A function generator kit.
51:20 Jeff: Quick summary of the projects that won't get done.
54:10 Al: Is reorganizing his github.
55:15 Al: The uBlox F9P GPS section.
The new board layout.
59:00 Al: Teensy spreadsheet. Used to label board.
1:00:20 Al: Relates that he was bitten by a non-LTS version of Linux.
1:02:10 Al: Pokes fun at one of Jeff's random videos.
1:04:45 Al: Configurations for moving baseline.
1:08:00 Bob: Ordered two new PCA9685 PWM boards.
1:08:40 Bob: Is attempting to get github Copilot to generate code.
He wants to control R/C servos on a pan/tilt camera mount.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al's gist channel: https://gist.github.com/jones2126
Al's github pages he talked about
https://github.com/jones2126/tractor2025/tree/main/tractor/f9p
https://github.com/jones2126/tractor2025/blob/main/tractor/rtcm_server.py
https://github.com/jones2126/tractor2025/blob/main/tractor/testing/gps_udp_listener.py
Here are a couple of options for large perf boards.
(as usual, do some searching to get best price/quantity/shipping deal)
This first page has multiple options. One board is about 8"x12".
https://www.amazon.com/Double-Sided-Universal-Packs-12x18/dp/B08WJBS4HK
https://www.amazon.com/Double-Sided-Universal-Packs-12x18/dp/B08WJDP144
Bob suggests these tutorials from Ada Fruit for Python environments.
https://learn.adafruit.com/python-virtual-environment-usage-on-raspberry-pi/overview
https://learn.adafruit.com/python-virtual-environment-usage-on-raspberry-pi/basic-venv-usage
https://learn.adafruit.com/python-virtual-environment-usage-on-raspberry-pi/more-venv-details
Index:
00:00 Jeff: Intro/Links
00:55 Jeff: Talks about a flat screen TV as a monitor.
05:05 Jeff: Has misplaced his third/extra uBlox F9P RTK receiver.
06:30 Al: Talks about his new uBlox F9P receiver layout.
08:50 Al: Software to go with new design.
10:55 Al: Shows output screen with static heading.
13:00 Jeff: Makes comments about what Al just presented.
u-center under Linux? Wine?
Antenna spacing.
Antenna alignment.
17:20 Jeff: Comparing two headings for calibration.
19:35 Jeff: Saw something in the uBlox manual about latching the GPS heading.
23:00 Al: Next step is to finish his new electronics board.
24:10 Al: Talks about getting the next higher HAM radio license.
24:50 Al: Mentions solar trackers.
26:00 Bob: Talks about his two PCA9685 PWM boards.
He has a board for R/C servos and another board for motor control.
(Since they use different PWM frequencies.)
31:25 Bob: Goes over screen sharing from his iPad.
He is trying to get the steps worked out.
33:05 Bob: Picture sharing is working.
More discussion of how the boards work and are programmed.
Some example code.
38:50 Bob: Goes through the steps again to share his photos.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
[If we post Amazon or eBay links, do some searching to get best price/quantity/shipping deal]
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al's gist channel: https://gist.github.com/jones2126
Date calculator
https://www.timeanddate.com/date/dateadded.html?m1=05&d1=27&y1=2025&type=add&ay=&am=&aw=&ad=90&rec=
Sticky note add-on - I am using Xpad
https://www.makeuseof.com/tag/5-little-useful-sticky-notes-app-for-linux/
Big clock for desktop
https://www.time-time.net/timer/digital-clock.php
Digital clock examples
https://www.amazon.com/DIYmalls-ESP32-2432S028R-Resistive-ESP-WROOM-32-Development/dp/B0CG2WQGP9/
https://randomnerdtutorials.com/esp32-tft-lvgl-digital-clock/
https://randomnerdtutorials.com/esp32-cyd-lvgl-digital-clock/
Al's github pages he talked about
https://github.com/jones2126/tractor2025/blob/main/tractor/rtcm_server.py
https://github.com/jones2126/tractor2025/blob/main/tractor/testing/gps_udp_listener.py
Options for various sizes of perf boards.
https://www.amazon.com/Double-Sided-Universal-Packs-12x18/dp/B08WJDP144
Index:
00:00 Jeff: Intro/Links
00:41 Jeff: Talks about Slack channel backups.
Handy tools:
Date Calculator
Sticky Notes
Big Clock
06:55 Jeff: WWVB clocks failing.
Buy a new one?
Build a new one?
17:50 Bob: Has logged in a second time with Zoom from his RPi5.
23:20 Al: Talks about progress on his new electronics board.
Comments about layout
Discussion about power requirements.
Wiring methods.
35:00 Al: Mention of larger perf boards.
35:45 Jeff: Does experiments with screen size for the video recording.
36:40 Bob: Is trying to reconfigure "nomachine" screen sharing software.
37:30 Bob: Is trying to figure out where to start "cheese" so he retains control.
38:35 Back to "nomachine" and naming.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
[If we post Amazon or eBay links, do some searching to get best price/quantity/shipping deal]
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al's gist channel: https://gist.github.com/jones2126
Links to HDMI cables on Amazon
12" m - micro hdmi to rectangle hdmi panel
https://www.amazon.com/Elecbee-Digital-Cameras-Extension-Transfer/dp/B0DT9N3TRH?xpid=uoS5vXQMI_nEz
1.5 m - micro hdmi to rectangle hdmi panel
https://www.amazon.com/Poyiccot-Extension-Support-Ethernet-Playstation/dp/B0CG3FBNS5
0.3 m - full hdmi to round full hdmi panel
https://www.amazon.com/Kework-Version-Extension-Motorcycle-Dashboard/dp/B08P19FBN2
1 m - full hdmi to round full hdmi panel
https://www.amazon.com/HDMI-Panel-Flush-Mount-Cable/dp/B06XKBMYGL
12" - full hdmi to rectangle hdmi panel
https://www.amazon.com/Bluwee-Extension-Cable-Female-Extender/dp/B01MXD15TE
12" - full hdmi to rectangle hdmi panel
https://www.amazon.com/Qaoquda-Extension-Support-Resolution-Xbox360/dp/B07WJGPQSW
1 m - micro hdmi to round full hdmi panel
https://www.amazon.com/GINTOOYUN-Standard-Extension-Waterproof-Motorcycle/dp/B0BY1KJNKQ?xpid=uoS5vXQMI_nEz
1 m - micro hdmi to round full hdmi panel - USB C male to female
https://www.amazon.com/BATIGE-Micro-HDMI-3-0-Mount/dp/B0C68MPKHV?xpid=L6LmKJIXewa2e
Random example of short micro hdmi to full hdmi
https://www.amazon.com/Adapter-supports-Ethernet-compatible-Raspberry/dp/B0DFYFSJDM?xpid=L6LmKJIXewa2e
Remote access GUI software: (No Machine software)
https://www.nomachine.com/
From AlJones To Everyone: (to load nomachine software through an SSH connection)
Download and Install NoMachine
Go here: https://downloads.nomachine.com/linux/?distro=Raspberry&id=29
Go to this section, 'NoMachine for Raspberry Pi DEB (arm64)'
Find the correct link to download
Change the file name at the beginning of the command as well as the URL
Copy that link and update the 'wget' command
On the RPi5, run $ wget -O nomachine_8.14.2_1_arm64.deb https://download.nomachine.com/download/8.14/Raspberry/nomachine_8.14.2_1_arm64.deb
wget -O nomachine_9.1.24_6_arm64.deb https://web9001.nomachine.com/download/9.1/Raspberry/nomachine_9.1.24_6_arm64.deb
$ sudo dpkg -i nomachine_8.14.2_1_arm64.deb
$ sudo dpkg -i nomachine_9.1.24_6_arm64.deb
Connect to the Raspberry Pi via NoMachine
Open NoMachine on your client device (Windows, Mac, or mobile).
Add a New Connection using the ZeroTier IP address 192.168.193.64
Bob: Here is the video and code to run my servos. I just copied his code
https://phazertech.com
https://phazertech.com/tutorials/rpi-gpio.html
https://youtube.com/watch?v=hsE0PabLuPE&si=2ABtZ9552sGmm2gP
Index:
00:00 Jeff: Intro/Links
01:00 Jeff: Talks about the scourge of AI nonsense.
02:45 Jeff: Mentions he reconfigured his flat screen TV setup.
03:15 Jeff: Talks about Raspberry Pi vs. laptop computer.
05:00 Jeff: Contemplates adding an external HDMI connector on outside of box.
Stories about searching for cables.
25:20 Jeff: But to sum up, I don't really need this anyway.
28:00 Jeff: Asks about the basics of "nomachine" software. (for remote desktop)
29:10 Al: Answers the questions about "nomachine".
Talks about steps for loading through SSH.
40:00 Bob: Shows us his keyboard controlled R/C servos.
43:40 Bob: Switches from an R/C servo to a Sabertooth motor controller board.
52:05 Jeff: Comments on view-ability of Bob's flat screen TV.
52:45 Bob: Attempts to show us the remote RPi screen on his laptop.
57:55 Jeff: Says he needs to get a BlueTooth keyboard also.
1:02:15 Jeff: Talks about doing Zoom experiments.
1:03:25 Jeff: Mentions connecting R/C servo guts to a motor power driver board.
1:07:00 Jeff: Asks if it makes sense to convert everything to R/C control...
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
[If we post Amazon or eBay links, do some searching to get best price/quantity/shipping deal]
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al's gist channel: https://gist.github.com/jones2126
Example of mini wireless keyboard
https://www.amazon.com/Wireless-Keyboard-Touchpad-Multi-Media-Raspberry/dp/B07XDJR958/136-5753303-6135449
Example of RTC for RPi
https://www.amazon.com/gp/product/B08X4H3NBR?ref=ppx_pt2_dt_b_prod_image
Example of stand alone RTC module
https://www.amazon.com/gp/product/B0D3V15VY1?ref=ppx_pt2_dt_b_prod_image
An RTC from Adafruit. More expensive, but they not as shady as random Amazon listings.
https://www.adafruit.com/product/3013
An Adafruit module for RPi
https://www.adafruit.com/product/4282
Adadfruit tutorial to add an RTC to RPi (you can find other tutorials also)
https://learn.adafruit.com/adding-a-real-time-clock-to-raspberry-pi
Random search on YouTube for Raspberry Pi power control videos.
https://www.youtube.com/results?search_query=raspberry+pi+power+control
Index:
00:00 Jeff: Intro/Links
01:45 Jeff: Shows new wireless keyboard/touchpad for Raspberry Pi 4.
03:40 Jeff: Got "nomachine" software loaded on RPi4 and a laptop.
04:50 Jeff: Talks about his quest for power sequencing on his RPi4.
08:25 Jeff: Maybe add RTC for alarm clock type start up.
19:05 Al: Give some suggestions for "nomachine" when it is ignoring requests over the network.
Shows how to send key sequences to the RPi.
22:55 Al: Shows pictures of progress on his electronics/control board.
26:20 Bob: Is adding and rearranging parts on his indoor robot.
Describes the individual pieces.
30:45 Al: Asks about wheels and motors on Bob's robot.
35:15 Jeff: Points out a quick way to find pictures in Slack.
38:20 Jeff: Mentions (again) using old R/C servo guts with a motor power driver.
42:40 Jeff: Talks about adding speed control to positioning servos to improve performance.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
[If we post Amazon or eBay links, do some searching to get best price/quantity/shipping deal]
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al's gist channel: https://gist.github.com/jones2126
A 5 amp USB-C cable from Amazon.
https://www.amazon.com/gp/product/B0C1YXM9PF?ref=ppx_pt2_dt_b_prod_image
A 5V/5A power convertor from Amazon.
https://www.amazon.com/gp/product/B01NALDSJ0?ref=ppx_pt2_dt_b_prod_image&th=1
Relays
https://www.amazon.com/HiLetgo-Channel-optocoupler-Support-Trigger/dp/B00LW15A4W
https://www.amazon.com/Ferwooh-Channel-Module-Extension-Trigger/dp/B0CZ6VNK65
Transistors
https://www.amazon.com/BOJACK-2N2222-General-Purpose-Transistors/dp/B07T61M92G
https://www.amazon.com/TQDLYKHS-IRF5305-P-Channel-Transistors-IRF5305PBF/dp/B0CN97LRCM
https://www.amazon.com/Bridgold-TIP126-Darlington-Bipolar-Transistor/dp/B07PJBKKF8
Example of RTC for RPi
https://www.amazon.com/gp/product/B08X4H3NBR?ref=ppx_pt2_dt_b_prod_image
Example of stand alone RTC module
https://www.amazon.com/gp/product/B0D3V15VY1?ref=ppx_pt2_dt_b_prod_image
IBT-2 motor driver
https://www.amazon.com/BTS7960-Driver-Module-Arduino-Current/dp/B091TPZ9R1?s=industrial
Al's logging code
https://github.com/jones2126/tractor2025/tree/main/BridgevilleRTKBase/raspberry-pi/production
Jeff's web site
https://www.youtube.com/@jws8675309/videos
https://www.youtube.com/watch?v=ONvlsnuUBi8 Driving outdoors
https://www.youtube.com/watch?v=vkBnj7TBhc4 Beacon test
Index:
00:00 Jeff: Intro/Links
00:30 Jeff: Still collecting parts for Raspberry Pi power sequencing.
5v/5A switching convertor.
Relay or transistors for switching RPi power convertor.
06:55 Jeff: Another quick mention of R/C servo guts to run a motor driver.
09:15 Jeff: More about RTC modules.
12:35 Jeff: Processor choice for RPi power sequencing.
14:20 Jeff: More transistor control switch stories.
15:50 Al: Shows new location for his GPS base station after he moved it.
17:05 Al: Has new logging software for his base station location/status.
21:15 Al: Shows his light tower he bought.
22:05 Al: Shows his addressable LED strip for comparison.
Neither are bright enough to be visible in direct sunlight.
25:15 Jeff: Attempts to play a video of his robot beacon outdoors.
32:25 Bob: Is redoing his platforms to clean up the layout.
38:10 Al: Asks about Bob's power supply module.
40:50 Jeff: Finally finds his blinking light videos. (See links above.)
Various videos and discussion.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
[If we post Amazon or eBay links, do some searching to get best price/quantity/shipping deal]
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al's gist channel: https://gist.github.com/jones2126
The 1W LEDs that Al ordered
https://www.amazon.com/LEDGUHON-Aluminum-Red2-0-2-4V-Green2-8-3-2V-Blue2-8-3-2V/dp/B0D8YHVSMQ
A couple of links that Al had posted to Slack about LEDs
https://kitronik.co.uk/blogs/resources/how-to-use-1w-star-led
https://www.youtube.com/watch?v=CUTX6YkbBsc
The 16-channel I2C PWM boards we were talking about
https://www.amazon.com/PCA9685-Channel-Interface-Resolution-Raspberry/dp/B0DFTLMJCX?s=electronics
The 400W MOSFET switch boards Jeff is using
https://www.amazon.com/High-Power-Trigger-Adjustment-Electronic-Brightness/dp/B0893MKNB2
I assume this is the switch Bob is talking about
https://www.amazon.com/Nilight-Waterproof-Rocker-Caravans-Warranty/dp/B0BJ2GY2FP
An apparent "AI" generated page (can we trust the Internet anymore?)
https://www.utmel.com/blog/categories/pcb/how-to-design-reliable-high-side-switching-circuits-with-p-channel-mosfets
Index:
00:00 Jeff: Intro/Links
00:45 Jeff: Parts.
Complains about Amazon.
Lack of parts.
Need more information on parts.
Need to experiment to verify Amazon listing claims.
Finding and collecting parts.
02:45 Al: Lat/Lon precision on his uBlox F9P GPS receiver.
And a mention of his GPS base station logging.
Remote usage of uBlox u-center software using Wine on remote Raspberry Pi. (or not...)
07:45 Al: Talks about high power LEDs.
(We are trying to find a light source that is visible in direct sunlight.)
Comments about identifying pinout of module.
PWM control to set LED intensity.
Reference to PWM board that Jeff and Bob are using.
Blindness safety warning.
22:40 Bob: Pictures of progress
The Barbie Jeep.
Reworking terminal strips and adding connectors.
(Bob wants to be able to swap the upper electronics deck between the small base the Barbie Jeep base.)
24:00 Bob: Switching between power sources.
(Bob refers to a "Battery Tender", which other people might call a "Trickle Charger".)
26:40 Bob: Was using too small of a wall wart for his RPi5.
And more comments about switching between an internal or an external power supply.
19:35 Bob: Goes down the "dark pathway" of Chat GPT.
33:00 Al: Displays a PWM board from Amazon.
(Since he is muted we are all confused. Maybe Chat GPT had taken over???)
34:50 Bob: Wants to run addressable LED strips from this PWM board.
But, no, addressable LEDs want to be connected directly to a microcontroller board.
37:25 Jeff: Takes another shot at "AI" and the hype behind it.
Jeff says "You have to be more informed in order to know when the Overlords are lying to you."
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
[If we post Amazon or eBay links, do some searching to get best price/quantity/shipping deal]
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al's gist channel: https://gist.github.com/jones2126
Example of a CN5711 board. (The ones I bought.)
https://www.amazon.com/Adjustable-Constant-Integrated-Temperature-Regulation/dp/B0CR3GJD9Q
Another example with better pictures, documentation and comments.
https://www.amazon.com/Adjustable-Current-Driver-30-1500mA-Constant/dp/B07S9C5QF1/136-5753303-6135449
Video demo of CN5711 board evaluation
https://www.youtube.com/watch?v=JiQdcsKblNo
Random switching regulators. (Buck convertor voltage reduction.)
https://www.amazon.com/s?k=buck+converter&i=industrial&ref=nb_sb_ss_p13n-expert-pd-ops-ranker_1_5
INA219 current/voltage monitor
https://www.amazon.com/s?k=ina219&i=industrial
INA226 current/voltage monitor
https://www.amazon.com/s?k=ina226&i=industrial&ref=nb_sb_noss_2
Switching regulator and constant current.
https://www.amazon.com/Driver-dimming-Constant-Current-Module/dp/B0F8RBYH7X
Video demo of this board.
https://www.youtube.com/watch?v=E4D-odvmT1A
A/C power monitor
https://www.amazon.com/Comimark-Digital-Multifunction-Current-PZEM-004T/dp/B0855T6VHT
Video for RPi
https://www.youtube.com/watch?v=17xbPl7KpGo
https://piddlerintheroot.com/pzem-004t/
Video for ESP32
https://www.youtube.com/watch?v=0igolzx-FS4
Using ACS712 current sensor
https://www.youtube.com/watch?v=6mGqnvW-adc
LED driver that Al bought
https://www.amazon.com/Step-Down-Adjustable-Controller-Electronic-Performance/dp/B0F39ZM4DG
A YouTube page where he tests out a lot of Amazon modules
https://www.youtube.com/@robojax
Index:
00:00 Jeff: Intro/Links
00:45 Jeff: Talks about high power LEDs.
07:20 Jeff: Constant current LED drivers.
12:45 Jeff: Low voltage input vs. high(er) voltage input.
12:55 Jeff: Cute little switching down convertors.
14:35 Jeff: You may be able to enable/disable the board with a simple logic level.
16:20 Jeff: A video on analyzing the CN5711 driver board.
18:50 Jeff: Series vs. parallel LED wiring.
20:00 Jeff: Maybe "modern" "standard" LEDs would be visible in direct sunlight.
23:45 Al: Asks about PWM intensity control of these drivers.
27:20 Jeff: Different board. Combination of switching convertor and constant current.
32:45 Jeff: Bought an A/C power monitor board.
38:25 Jeff: Conversation jumps back to driving LEDs while the AC power monitor is still displayed.
40:40 Al: Shows some LED driver boards that he ordered.
43:20 Al: Shows progress on his big electronics board.
51:25 Al: Waiting on parts.
52:30 Bob: Is playing with new power connections.
58:00 Bob: Shows the progress of his road construction.
1:02:30 Jeff: Posts the link to the LED driver testing.
A walk through of the video.
1:11:40 Jeff: More about LEDs in series and/or parallel.
1:15:00 Jeff: Asks Al if he is going to to use series/parallel combinations.
1:17:15 Jeff: Diffusion lenses.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
[If we post Amazon or eBay links, do some searching to get best price/quantity/shipping deal]
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al's gist channel: https://gist.github.com/jones2126
See last week's meeting for links to the LED drivers:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm#20250925
Video about Jeff's existing flashing LED beacon
07122019 Lawn Tractor Meeting @7:00-27:00 https://www.youtube.com/watch?v=kZkRv-ihn9o
Al's TKInter Gui code
https://github.com/jones2126/tractor2025/blob/main/tractor/oak-camera/oak_control_tkinter.py
You can find more info about the PCA9685 PWM board here
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm#20250918
Bob's original talk about applying new treads to his plastic tires.
@25:00 http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm#20230831
Index:
00:00 Jeff: Intro/Links
00:45 Jeff: Talks about two LED driver boards.
Connecting various LEDs including a 10 watt white LED.
08:00 Jeff: Things to diffuse the bare LEDs.
Objective is to view the LED from the side.
16:40 Jeff: Physical layout and colors.
(See link above for the original beacon design.)
(More links to beacon/status lights in this meeting:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm#20250717)
19:40 Jeff: Series/parallel combinations.
22:35 Jeff: PWM for intensity experiments.
27:15 Jeff: Truth in advertising.
29:45 Jeff: Chinese delivery schedules.
31:30 Al: Shows his control panel.
He has a TKInter GUI program that runs on his vehicle Raspberry Pi.
34:30 Al: LED drivers.
His 4 color light "column".
39:50 Jeff: Analyses Al's LED driver board for power output.
As opposed to what the Amazon listing was claiming in text and photos.
And then applying a PWM to control output current.
On/Off or PWM?
46:15 Jeff: Talks about hardware PWM vs software PWM.
The PCA9685 PWM board.
54:00 Jeff: Color mixing to create yellow.
58:00 Bob: Talks about his Barbie Jeep.
Shows his additional treads on his plastic tires.
Tweaking castor wheels.
Other mechanical tweaks.
1:02:35 Bob: More batteries and power supplies.
1:04:45 Bob: Using an office chair for robot parts.
1:05:45 Bob: Switches for battery charging.
1:07:25 Jeff: Offers suggestions on the castor wheels.
1:10:10 Bob: Talks about laptop viewability in sunlight and video lag.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
[If we post Amazon or eBay links, do some searching to get best price/quantity/shipping deal]
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al's gist channel: https://gist.github.com/jones2126
Index:
00:00 Jeff: Intro/Links
01:00 Jeff: Continues the story of LED drivers from the last couple weeks.
LEDs in series. Or series parallel combinations.
Needs more current for same brightness.
Changing Amazon search turns up same(ish) board that is 700ma.
11:25 Jeff: Tip for mounting the wide (ESP32) controller boards on protoboards.
15:20 Jeff: Manufacturing problems.
17:30 Jeff: More random show and tell.
15:45 Al: Asks about dimming capabilities on these driver boards.
20:45 Jeff: Data sheet for XL4001 LED driver chip.
More random comments about light reflectors.
27:00 Jeff: Discussion of AC power monitoring experiments.
34:10 Al: Talks about WebRTC software.
Can provide video connection.
Can also provided control channels.
37:00 Al: Gives a demo of his current LED indicator experiments.
38:20 Al: Circuit to drive the big LEDs.
42:00 Jeff: Asks about clear lens covers.
45:25 Jeff: Asks about rotating lights.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
[If we post Amazon or eBay links, do some searching to get best price/quantity/shipping deal]
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al's gist channel: https://gist.github.com/jones2126
Bare bones A/C monitor
https://www.amazon.com/Comimark-Digital-Multifunction-Current-PZEM-004T/dp/B0855T6VHT
Case/split core/USB kit
https://www.amazon.com/Fafeicy-PZEM-004T-Monitoring-Communications-Software/dp/B08C5K2BT9
PZEM-004T Python code
https://github.com/TheHWcave/Peacefair-PZEM-004T-/tree/main
Index:
00:00 Jeff: Intro/Links
00:40 Jeff: LED drivers.
350ma/700ma boards
Wiring up a 5 LED test board for outside.
Too much work, going back to a single LED.
Plan for new box.
14:30 Jeff: Talks about the A/C power monitor from last week (PZEM-004T).
Split core vs. solid core current transformer.
The version with split core transformer, plastic case, USB to TTL cable.
17:40 Jeff: The USB cable option and Python code.
18:15 Jeff: Examples for my refrigerator running.
29:25 Jeff: Faster/alternate sampling rate for current.
34:05 Al: Talks about his beacon/tower light from last week's meeting.
36:00 Al: Shows his 3D printed frame for the lights.
40:35 Bob: Tribute to his deceased Raspberry Pi 5.
41:55 Bob: Forced update.
42:45 Bob: Connectors and (re)wiring.
43:45 Bob: Comparison of Raspberry Pi OS (Trixie and Bookworm).
45:05 Bob: Some AI experiments.
50:50 Bob: Wiring for remote kill switch.
A related problem is residual power drain if "extra" switch is not turned off.
53:15 Jeff: Has another refrigerator plot.
55:15 Al: Asks about Bob's sequence of events that caused the RPi5 damage.
Discussion of replacing the power management chip.
1:00:35 Bob: Removable battery options.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
[If we post Amazon or eBay links, do some searching to get best price/quantity/shipping deal]
Chat/Notes:
Al's Miro board: https://miro.com/app/board/uXjVM1yzdFo=/
Al's github: https://github.com/jones2126/
Al's Jupyter Notebook directory.
https://github.com/jones2126/ros1_lawn_tractor_ws/tree/master/project_notes/jupyter_notebooks
Al's gist channel: https://gist.github.com/jones2126
Index:
00:00 Jeff: Intro/Links
00:35 Jeff: Talks about his AC power monitor from last week.
Brief description of previous AC power plots.
Story about logging temperature on an original Raspberry Pi B.
01:35 Jeff: This attempt at refrigerator temperature monitoring.
06:50 Jeff: Combine both logging programs?
07:20 Jeff: Moving to a "more modern" Raspberry Pi.
09:55 Jeff: Woes of living in an apartment...
11:15 Jeff: No extensions cords???
12:20 Al: Has questions about the temperature plots.
15:55 Al: Shows his LED light tower.
18:05 Al: Definition of his flashing light assignments.
20:00 Bob: Asks about latency time of LORA radio.
22:10 Al: Shows some notes for his LED tower development.
25:15 Jeff: Makes comments about Al's color flashing assignments.
29:00 Jeff: Drones on about his views of how e-Stop conditions "should" work.
32:10 Jeff: Mentions his "additional" LED status strip.
Only viewable up close.
34:15 Jeff: High power addressable LEDs??? (Sweet...)
36:30 Bob: Shows new battery hold-down hardware.
New wiring.
39:05 Jeff: Asks about Bob's physical battery wiring.
40:50 Discussion about "Not enough time in the day".
And final words of wisdom.
==
Link to access the Slack channel: https://tractorautomation.slack.com/
Lawn Tractor Automation YouTube page: https://www.youtube.com/@lawntractorautomation2726/videos
Index for Lawn Tractor Automation Zoom meetings:
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.htm
http://sampson-jeff.com/RosAgriculture/LawnTractorMeetingNotes.txt
Index for the original ROS Agriculture Zoom meetings (~250 videos):
http://sampson-jeff.com/RosAgriculture/readme.txt
(Use following link, or newest file in that directory)
http://sampson-jeff.com/RosAgriculture/ros-agriculture-youtube20230104.txt
