Loomo Segway Support?

Question

HI, Just found you guys, Love it! Any Chance Loomo Segway works with ARC?

Update: I know I posted the question without good information of what I am attempting.

My final goal is to use Loomo to tow a UVC Rig that will use UVC lights to disinfect places. These UVC carts can be push around (manual version), or towed with Loomo (Autonomous). Loomos will be connected to Exosphere for routes to be completed every night when the places are closed.

DJ Sures · Answer

Thanks! Normally I would say yes - but it seems Segway has locked their SDK to JAVA only. There's several comments from  interested developers about supporting other languages - specifically .Net. The Java SDK would actually be considerably easy to port to .Net because C# and Java are almost identical in many ways. In the meantime, if you find any api/json/tcp communication documentation, that would help as well.

amin · Answer

I could see this work by turning Loomo into an ez-b. That is to develop an app that can talk to ARC through ez-b protocol. All the app needs to do (at the most basic level) is to transfer video frames to ARC and map incoming ARC movement commands to wheel movements. This must be doable according to their SDK which provides you with methods to capture camera frames and command the robot to move. Looks like SDK was more limited last year when a similar question was asked: https://synthiam.com/Community/Questions/Loomo-By-Segway-3804

cmilian · Answer

Will something like this help? A native C++ development kit for Loomo robot https://github.com/segway-robotics/loomo-algodev

cmilian · Answer

This one also looks interesting. Problem is that I am not good enough coding to figure it out.  Loomo Socket Server https://github.com/Fjetland/LoomoSocketServer

DJ Sures · Answer

That’s certainly doable  is the loomo the correct platform for the job? Vs a cart or something like the ohmnilabs robot base. Just brain storming.... What were you thinking the advantage of a loomo vs more traditional robot wheel base with more torque for towing?

cmilian · Answer

DJ, I agree with you 100%, but we are way ahead on marketing and other logistics using LOOMO, But I do see us changing platforms and lowering cost in the future. We will do out OWN bot later down the road.

DJ Sures · Answer

Will you have access to one LOOMO for testing if you want us to assist with integration?

cmilian · Answer

Yes, getting one Monday, we can break it into pieces if you want too. Thanks, would love your help.

cmilian · Answer

OK, Got my Loomo, where do we start?

kazpet · Answer

Hi , I have a Loomo as well, I am interested as where we can go with it.

cmilian · Answer

Waiting for DJ, he know best on how to proceed.

DJ Sures · Answer

Hey gang - I think the first thing is to find the API / Protocol definition. So we can get some sense of how movement instructions can be sent to the Loomo. For example, how do we remotely tell it to move forward or turn left, or stop, etc.. There must be an API or SDK or JSON definition depending on the 3rd party programming interface. When you purchased it, did they send any programming information? Or access to a API/SDK portal?

kazpet · Answer

Yes there is a SDK available to anyone.  This is the link  https://developer.segwayrobotics.com/developer/documents/setup-developing-environment.html

cmilian · Answer

Yes, I have used one GIT and tested voice commands for movement using the SDK.  Tested this one and it worked: https://github.com/loomoguy/loomo-speech-demo

cmilian · Answer

I don't know much, but in the end what we need to do is an Android APP that will provide all that Synthiam needs. I think, not sure

DJ Sures · Answer

An Android app is out of scope for Synthiam ARC - as we focus on x86. We'll need to dive deeper to understand how we can send movement commands

cmilian · Answer

Ok, What can I do?

cmilian · Answer

Specs Height x Length x Width 650mm x 310mm length x 570mm width Weight ~19kg (~42 lbs.) Max Payload 220 lbs Machine Parameters LCD Screen 4.3 inch, 480 * 800 pixels HD Camera 1080p 30Hz streaming with 104 degrees FOV 3D Camera Intel RealSense ZR300 Camera for depth-sensing & motion tracking Sensors Available Ultrasonic sensors, infrared distance sensors, touch sensors, encoders, IMUs Processor Intel Atom Z8750, 4 cores 2.56GHz, x86-64 Operating System Customized system based on Android 5.1 Memory 4GB Storage 64GB Battery Capacity 329Wh Motor Speed Limit 8km/h (4.3mph) in robot mode, 18km/h (11mph) in self-balancing vehicle mode Typical Range ~35km (22 miles) per charge Traversable Terrain Paved road and sidewalks, packed dirt, slopes < 15, obstacles < 0.4 inch (1cm), gaps < 1.2 inch (3cm) Features Mic Array 5 microphones enabling beamforming, voice localization and voice command recognition Waterproof IPX4

DJ Sures · Answer

I think what we can do is whip up an Android app that runs on the device and converts it into an EZB - it exposes a TCP connection for ARC to connect to. This is similar to how the Ohmnilab telepresence robot or Raspberry Pi EZB Server works.

cmilian · Answer

Sound like a Plan, Who can do this?

kazpet · Answer

I noticed that your photo has a platform attached to the loomo. What is it and where did you get it

cmilian · Answer

It’s a Loomo delivery platform we found on the web, we could not find it to buy so we are actually building it ourselves. Prototype will be ready this week.

cmilian · Answer

Found this also Android Loomo ROS Core This repo allows you to connect a Loomo robot to an host PC running ROS. It exposes a number of the Loomo's sensors to ROS in ways that are compatible with the ROS Navigation stack. https://github.com/skalldri/android_loomo_ros_core

kazpet · Answer

I assume that because it is in the front it can move a good load. I tried to attach sometime at the back and it could not carry any load

DJ Sures · Answer

That ros core android thing is a perfect place to start

cmilian · Answer

kazpet, I believe that pulling alone does not work, he needs to feel weights, to we need to make sure the base feels it or do it by cod, there is a weight sensor.

DJ Sures · Answer

The API will be able to send commands to move - is there a mobile app for it?

cmilian · Answer

Yes, Android and iOS apps. https://apps.apple.com/cn/app/loomo/id1377974255?l=en

cmilian · Answer

This app moves it too with voice commands.  https://github.com/loomoguy/loomo-speech-demo

cmilian · Answer

DJ, did you get a chance to look into it?

DJ Sures · Answer

The ROS style android app is the right way to go - as that's how a few other ARC compatible devices work. By having a remote service that ARC connects with using and extending the EZB protocol. I'd definitely recommend going that direction. However, the next question is to determine creating either a skill that connects to the existing ROS android app using ROS messaging? Or modify the android app to extend the EZB protocol?

I think they're both about the same amount of effort - so maybe I'd recommend start looking through the existing ros android app to document the available data first. That way we'd all know what to expect from it.

Morbeious · Answer

Eh.  If anyone is still working on getting loomo to work with arc I'd like to get in on the action.

DJ Sures · Answer

Development halted because people we were working with had returned their loomo. Are you using yours? Have there been any problems with it?

Morbeious · Answer

I've had a few quirks but no show stoppers. I do have a wheel light not working.  I'm in touch with the original US dev/engineers who are all still hacking around on the unit. But are no longer with the company.  I was looking at the ROS branches on github last night I plan to start with it. As u stated apreviously It seems the most logical way to go Did you see the Heineken B.O.T. released a few months ago  https://www.heineken.com/us/en/promos/bot This bot doesnt want to die, and the form factor is perfect for a  interactive robot assistant, that's my goal is to create my own version of a R2 unit that can help around in my  lab and take me for a ride when I need to think

cmilian

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