Turtlebot with voice control

Date Wed 29 January 2014

Here's a short video of my turtlebot responding ot voice commands using the Pocketsphinx ROS package.

Turtlebot line follower

Date Mon 16 December 2013

from scratch. So now the turtlebot is running a version of ROS Fuerte and I have the newest verson of ROS Hydro on a virtual box for my workstation. I put together a simple line following program to test everything out. You can follow along to create your own or just grab the completed project from my github repo.

One new thing I ran into is that creating packages with Hydro is a little different than before. You still use the same arguments but this time create a new package using catkin_create_package. The package we will make is going to use std_msgs, rospy, and the turtlebot_node. To do this move into your working directory and run the following

catkin_create_pkg line_follower std_msgs rospy turtlebot_node

Use roscreate_pkg if you are still on an older version of ROS. You should have a line_follower directory in you workspace now. Move to that directory and create a nodes folder. In the nodes folder we will create the actual ...

Homebuilt Turtlebot

Date Tue 25 June 2013

The bigger and slightly less hacked together brother to my Autonomous Roomba is the Turtlebot. If you haven't heard of the Turtlebot, just let me say that it is probably the coolest creation of hobby and research robotics.


The downside is that the ready to go kits are pretty expensive at around $1000, which puts it out of the range for most hobbiests. If you have been here before, then you know what happened next. Here's the BOM for my homebuilt turtlebot. You end up spending a bit more on the mini-ITX board but this board has the advantage of comming with a built in step-up power regulator. That let's me get away with running it off of an 11.1V LiPo. Most of the boards I found needed 19V to run which means you would need to spend more ...

ROS on a Roomba

Date Wed 05 June 2013

I came across an unused iRobot Roomba at FUBAR labs and though this would be the perfect opportunity to build a robot using the Robotic Operating System (ROS). ROS is basically software that's used integrate all a robot's sensors (encoders, depth camera, laser scanner ect..) with the code that's used to control it. All of the sensors run as a node. For example, the Kinect sensor node publishes its depth data. The SLAM (localization and mapping) node will uses the Kinect data to determine the robot's location and publish to other nodes. Each node is separate from the others so it's easy to change or add new ones. ROS also has a ton of built in libraries that work with different servos, laser scanners, and other sensors.

The Roomba is essentially the same ...


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