50 réponses à ce sujet

[drobo_community]

Hi @Richard_muhi congratulations!

[drobo_community]

@Shockley please check and leave your comments

[shockley6668]

Hi, Richard_muhi. This is a very ambitious architecture! It really pushes the RDK X5 close to its limits by running multiple perception pipelines alongside SLAM, planning, and control. Looking forward to seeing it implemented.

One suggestion: since you're using three camera streams, you could take advantage of the RDK X5's dedicated hardware video encoder/decoder instead of relying on the CPU for video processing. That can significantly reduce CPU utilization.

Also, if you're using ROS 2, consider using shared-memory transport for image topics. It can greatly reduce memory copies and improve overall throughput when transferring high-bandwidth camera data between nodes.

Overall, this looks like a very well-thought-out Stage 2 proposal. Good luck-I can't wait to see it running!

[richard_muhi]

Completed printing the battery holder
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[richard_muhi]

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[richard_muhi]

I have added a lidar sensor for safety in case visual obstacle avoidance system failed.
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[richard_muhi]

I have mounted MPU 6050 RDK X5 and L298N together. Next phase is wiring, hopefully I won't encounter magic smoke
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[richard_muhi]

Power system connectors
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[richard_muhi]

Whole sysetem wired together
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[richard_muhi]

Cameras are on now
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[richard_muhi]

Now I can start test each system
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[richard_muhi]

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[richard_muhi]

Camera calibration

[richard_muhi]

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[richard_muhi]

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[richard_muhi]

There result are looking good

[richard_muhi]

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[richard_muhi]

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[richard_muhi]

Robot now is fully assembled, and left the bench for ground testing.
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[richard_muhi]

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