Beaglebone Black - Eclipse Remote Debugging, Ubuntu

I recently had to get my remote debugger working for a beaglebone black. Contrary to my post on MacOSX cross compile toolchain - I decided to use Ubuntu.

Beast visual servoing on Youtube

I shared a video for Homebrew Robotics Club last week - where, Henry was the only member of the team to attend. 

Enjoy beast visual servoing and acquiring a sample - fully autonomously - while I log the data in a tethered fashion. Wifi also works really well for logging, but by this point we were prepped for the field day at WPI.  So, we had removed the wifi access point.

Beast is on Facebook

It seems that Neato has posted something about beast.

Oh the shameless product placement. :)

Largest accomplishment: 
We were the first team to successfully navigate around the telecast building! We displayed full obstacle avoidant behaviors with the use of my stereo camera as the primary sensor for visual odometry.

The platform is just 5 months old, but it works really well for an R&D project. Fun, complicated, and everything you need to stay interested in robotics type of project.

Improved stereo camera

New stereo camera mounted

Thanks again Onshape!

Thanks to the use of an awesome mill, and precise ME. I only need to create a shell for the new and improved mount... since, we're past the R&D stage.

Hot off the print bed, with support material. The Lulzbot works a ton better with the new enclosure I built for it. 

After removing support material:

And after mounting on the actual camera.  I think I'm getting pretty good and fitting like a glove, the first time out of the print box.  But it sure helps to have precision holes. Thanks Chuck!

More platform cleanup

'Beast' can pick up several types of objects now. 

Has a wifi access point for remote debugging. That won't be there later. 

Platform cleanup

Just a handful of computer nerds, a garage full of tools and a lot of beer. 

The tk1's are installed and running robot code. Board dependency nightmare has subsided and testing phase wrapping up. Last week before the real demo. 

jetson tk1 stack

Robot brainstem

Here is the 3D printed jetson tower that's going on the nasa robot. (I had to first build and enclosure for my lulzbot... working great for tall prints now.) We are running one tk1 as the master and one tk1 as a slave. The slave will have to stereo camera, imu and object detection camera (and possibly homemade lidar). The master will have the base detection cameras, motor controllers (and possibly a sun tracker). The 'possibly' depends on upcoming complications during integration over the next two weeks. 

Pictured here are 2 x 2.3GHz quad-cores + 2 x 109 cuda cores...

http://elinux.org/Jetson_TK1

So, I have been working in OnShape to create this. I was invited to be a beta user. It's the core guys from Solidworks that created this CAD system, and it's cloud-based. I have to admit it is a really awesome CAD interface - super intuitive and best part is: It runs in your browser using WebGL. So, it's totally platform independent and in the cloud. Only downside - you will need an internet connection to work on stuff (as most of the complex operations are done on their server)... So, I don't see this being the ideal system to use on a plane trip. But otherwise - it's a pretty amazing app (and idea).