I suppose in many aspects my project is the same as KevinO's awesome robot Golem. Kevin has been kind enough to allow me to work on his ROS development and at the moment I'm re-gearing the system for the PhantomX kit.
So her name is ROSie and I'm thinking it stands for ROS Intelligent Explorer unless I come up with something better
I went with the AX18 kit because I figured I could potentially do more with faster servos. After the kit was assembled I used a couple of AX12 servos and a 3D printed adapter to attached a pan and tilt neck on the front of the body that holds the PrimeSense scanner.
With the extra 330 grams of weight on the front rather than the top of the body I was noticing the femur servos were getting extra warm on the front two legs and would tend to over heat to the point where they would shut down. The weight didn't seem unreasonable so I started to experiment with 30mm cooling fans and 3D printed brackets. While they do generate a little bit of noise they also keep the servos cool enough to run continuously ( or at least enough to bother my dogs until the battery dies ). If you are interested in the AX servo cooling fan mod the files are available on http://www.thingiverse.com/thing:781366
My current plans are to run ROS on a Raspberry Pi 2 but if I run out of processing power too soon I'll be switching to a new platform. For now I'm trying to utilize as many of the existing parts that I have laying around and the RPi2 is holding up pretty good under the ROS load.
I've brought in customized 3D models of the PhantomX for the robot model in ROS.. they aren't 100% perfect but I think they look pretty good for the amount of time utilized. I plan to add the models for the pan and tilt servos as well as the PrimeSense.
All the PhantomX measurements have been brought into the system and she's been walking around in my small dev area just a bit as you can see from my mapping screen shot.
As of last night I brought in an alternate IMU driver since I'm using the CH Robotics UM7 and I now have the IMU auto levelling working. And if you notice in the screen shots depth scanning, laser scanning, odometry, and 2D mapping are up and running as well. I also went with a bluetooth PS3 controller for manual control and a small amplified speaker for sound effects and talking.
I think that's about all for now. I'm trying not to get too far ahead of myself here as some plans are likely to change as the development continues but at the same time I wanted to share and show my presence on the forums a bit.
Current hardware setup:
PhantomX AX MKII Kit with AX-18A Servos
ODROID XU3 with 32GB eMMC 5.0 and USB Bluetooth
PrimeSense 1.08 Camera and Depth Sensor on AX-12A Pan/Tilt Servos
USB2AX Servo Communication Adapter
CH Robotics CHR-UM7 IMU
Adafruit USB FTDI Friend
Boise 11N 300Mbps WiFi Adapter
Pololu 5V 5A voltage regulator