That’s why I was thinking of a Roomba… A 600 series cost about 200$ and they should be available used quite globally. You can interact with them through a serial interface. There exists even software for them: https://github.com/youtalk/create_autonomy/tree/dashing-devel @youtalk is working on some ROS2 ports and offered last year on github to continue maintaining this package.
But I’m unsure how the power from the platform can be used to power an ARM SBC and an robot arm. The power would be drawn pretty fast. But with an very cheap mini DIN 8 connector (under a dollar) and some soldering wires hooked up to an UART on any SBC/ARM Board you are good to go…
Probably changing my setup to a wooden box and some cheap hover board motors… But this would then involve some beefier hardware… [future projects…]
We actually did that at my university. It was a bachelor thesis from a college utilizing a Sick Tim series laser scanner… It was controlled with 2 Dynamixel and an Arduino Pro mini with an additional BNO055 IMU. I might be able to ping him. But consider that you need some beefy GPU or cloud resources to process 3D laserscanner data, depended on your application. Also It is really hard to utilize 3D Data in such a field. Other researches surrounding this topic at my university have been focusing to work with far more expensive Velodyne 3D scanners. It should be possible to do it with a cheaper setup, but if you want to develop things on top of 3D data it is better to have a reliable system to work with.
I have 2… so, if you want I can sell you one?
That’s really cool… Do you share your code about this anywhere? The guy from the cheap-3D Laser scanner is currently working on programming a self build robot arm consisting out of multiple dynamixel drivers. I think they don’t provide feedback during motion. So maybe it could help us here… I’m sadly no expert in robot arms…
Quite a lot if you ask me…! I have 2 versions from it. The first cannot do to much but the more recent boards really continue to impress me… Check out there twitter for some recent projects: https://twitter.com/openmvcam/status/1119709886810480640
Try it! It really improved recently with connectivity and a lot is happening with navigation2. It’s really cool, once you utilize what ROS2 is providing. The Documentation is lacking some parts, but they are improving here as well. Mostly with example projects like yours, it gets easier to learn what is there