iRobot Create3 - GeorgeBot with LIDAR and Oak D Lite

[jerrynsr]

Here's GeorgeBot. It's still a work in progress but in this config I have the Create3 equipped with a Raspberry PI 4, Addata 512GB SSD, USB DAC/Speaker, Slamtec A-1 LIDAR, Luxonis Oak D Light, and 4 port USB 2.0 micro hub. I plan on running a protected GPIO breakout board out to the rear of the bot, near the camera mount. I'll also add a spatial microphone.
A USBC right angle connector was required to clear the LIDAR scanner head. I used a USBC 1 foot extension cable to run to the payload bay and attached the Luxonis power/data T to the end. I used a dc - usbc power block that has a usba connector on the end.
Nice clean connections. The RPI4 is in a FLIRC case for some much needed heat dissipation.

Later on tonight I plan on enabling the ClearPath Turtlebot4 Luxonis Oak D Lite ROS2 module and test it out. I plan on posting some more videos of GeorgeBot running missions with NAV2.

Here's GeorgeBot:

[jerrynsr]

I successfully ran the OAK D Lite example on georgebot. The example runs rviz2 locally on the PI..

Now the work begins.. getting the Turtlebot4 oak_d transforms merged in with my georgebot_ws.
I run rviz2 remotely. (as with my NAV2 test in the above photo) You really don't want to burden the PI4 with running X11 and all the python code driving the bot.

The micro 4 port usb 2.0 hub that I bought from Adafruit works great. USB Audio is streaming from there. I really just needed one more port to add a Spatial Microphone Array. When I add servos for Pan/Tilt I will use an I2C connection to an Arduino driving the servos.

Before I add anything new I need to get the Oak D light fully functioning. I figured the best place to start is experimenting with the DepthAI ROS2 examples, modify the examples to support remote Rviz, and study the urf that ClearPath Robotics wrote for the Turtlebot 4 demos.