Intel Realsense T265

@Nink, I mentioned previously that I'll add a ControlCommand for you - it is on the list todo. However, I don't think it's going to help you and will cause much larger challenges to face. But that being said, I'm interested in how you'll overcome them.

You see, the T265 requires a cartesian X/Y and Heading Degree for mapping. This means you will have to specify the absolute exact coordinate (including heading degree). I'm sure there's a way you can calculate it with a glyph size and such. But be forewarned that it won't be as simple as you may think.

*PS Note: moved the above comment into this thread because it's regarding the Intel T265 and now a robot build.

OK thanks @DJ.  BTW I tried telling the robot to goto a spot close to dock, then go seek dock then stop realsense camera and start Realsense  again to recalibarate but after a couple of times doing this it will just hang.  If I unplug realsense wait 30 second and plug back in again it will work when you tell it to start again.

Question Can you Disable and Enable a USB port in ARC to reinitialize the driver or can you call a batch file to potentially use something like  devcon to disable port in windows and then re-enable the USB port so it resets each time you stop and start it?

I use the same method. I found this code, duno if it helps...

https://github.com/ralight/usb-reset/blob/master/usb-reset.c

Bye the way, i have a Ryzen 5 with 16GB onboard my roomba and the T265 does not drift anymore.

Thanks I am not sure how to execute that code from ARC. I did a google and found I can disable and enable with the PNPUTIL command but windows wants to reboot in between ( I guess they forget what the PNP  in PNPUTIL stands for)  example for my device pnputil /disable-device "USB\VID_8087&PID_0B37\952322111114"

I could always just create a USB hardware add-on that allows me to turn it on and off with a relay (this is actually starting to sound like easiest method)

With regards to drift, I played with offset for a while and concluded -160 was a good level (When I go into a spin it doesn't create a donut) but yeah drift is still a problem.

Ryzen 5 must chew some power.  What are you using for battery.  I have blown out 4 Lipos running all this stuff (My 4S is now a 3S and my 3S's are now 2S's).  I have now switched back to an old Sealed lead battery and plug in when docked so computer is always on.  This seams to work OK and I get about 2 hours of play time.   I am going to add some springs and magnets so it will auto charge (just a matter of finding parts) this week.

I really want to get this as autonomous as possible.

Great idea with the relay. The code is just an example i found. I think it is written C+. My setup with this mboard is recent and i am still in the build phase. I use 2 Xunzel SOLARX-8 gel batterys in parallel.

heh I found out how to fix camera hanging when you turn off Realsense and turn it back on.  Put a 1 minute delay in the script between turning off and on.  Sometimes it is quick sometimes slow but 1 minute seems to work all the time for me.  More testing.

I need to work on distance sensors maybe laser sensors as these ultrasonics are garbage.  Will smash into something or see something that is not there.  Also I think we need a way to navigate with individual sensors,  if something towards left turn right, towards right turn left. directly in front stop.  When you have sensors directly on side you really don't care as much about distance from wall beside you, also when you are going fast they don't work as well as slow.

I also really need to add a panic button off an Arduino accelerometer to shut off roomba battery if it starts to go crazy. That seems to happen a lot :-)

Nink, i use the roomba built in IR sensor array to avoid obstacles coming from left, right or front and try to navigate past it. It is very crapy code and is still in "beta" but works.

import time

cleft = 0
cright = 0
fleft = 0
fright = 0
bleft = 0
bright = 0

while (True):

  if getVar("$RoombaLightBumperCenterLeft")==1:
     Navigation.SetNavigationStatusToPause();
     print "Bumper Center Left";
     cleft += 1;
     print cleft
     #time.sleep(2);
  if cleft == 2:
     Movement.Right(30,3500);
     Movement.Forward(30,1500);
     Movement.Stop();
     Navigation.SetNavigationStatusToNavigating();
     cleft = 0
     cright = 0
     fleft = 0
     fright = 0
     bleft = 0
     bright = 0
     print cleft
     
  if getVar("$RoombaLightBumperCenterRight"):
     Navigation.SetNavigationStatusToPause();
     print "Bumper Center Right";
     cright += 1;
     print cright
     #time.sleep(2);
  if cright == 2:
     Movement.Left(30,3500);
     Movement.Forward(30,1500);
     Movement.Stop();
     Navigation.SetNavigationStatusToNavigating();
     cleft = 0
     cright = 0
     fleft = 0
     fright = 0
     bleft = 0
     bright = 0
     print cright
     
  if getVar("$RoombaLightBumperFrontLeft")==1:
     Navigation.SetNavigationStatusToPause();
     print "Bumper Front Left";
     fleft += 1;
     print fleft
     #time.sleep(2);
  if fleft == 2:
     Movement.Right(30,3000);
     Movement.Forward(30,1500);
     Movement.Stop();
     Navigation.SetNavigationStatusToNavigating();
     cleft = 0
     cright = 0
     fleft = 0
     fright = 0
     bleft = 0
     bright = 0
     print fleft
     
  if getVar("$RoombaLightBumperFrontRight")==1:
     Navigation.SetNavigationStatusToPause();
     print "Bumper Front Right";
     fright += 1;
     print fright
     #time.sleep(2);
  if fright == 2:
     Movement.Left(30,3000);
     Movement.Forward(30,1500);
     Movement.Stop();
     Navigation.SetNavigationStatusToNavigating();
     cleft = 0
     cright = 0
     fleft = 0
     fright = 0
     bleft = 0
     bright = 0
     print fright 
     
  if getVar("$RoombaLightBumperRight")==1:
     Navigation.SetNavigationStatusToPause();
     print "Bumper Right";
     bright += 1;
     print bright
     #time.sleep(2);
  if bright == 2:
     Movement.Left(30,2000);
     Movement.Forward(30,1500);
     Movement.Stop();
     Navigation.SetNavigationStatusToNavigating();
     cleft = 0
     cright = 0
     fleft = 0
     fright = 0
     bleft = 0
     bright = 0
     print bright
     
  if getVar("$RoombaLightBumperLeft")==1:
     Navigation.SetNavigationStatusToPause();
     print "Bumper Left";
     bleft += 1;
     print bleft
     #time.sleep(2);
  if bleft == 2:
     Movement.Right(30,2000);
     Movement.Forward(30,1500);
     Movement.Stop();
     Navigation.SetNavigationStatusToNavigating();
     cleft = 0
     cright = 0
     fleft = 0
     fright = 0
     bleft = 0
     bright = 0
     print bleft
else:
  Navigation.SetNavigationStatusToNavigating();
  time.sleep(1);
  cleft = 0
  cright = 0
  fleft = 0
  fright = 0
  bleft = 0
  bright = 0