Spec TBD; Not decided if we need this or not.
Pi CM4/CM5-compatible Compute Module using ESP32-S3 instead of CPU
Purpose - cost reduced "educational" version of OOMWOO open-source vacuum cleaner robot by replacing Pi CM4/CM5 with ESP32-S3, moving mapping/navigation compute to a separate local PC running ROS2.
Tradeoffs:
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this is not a "consumer product" anymore due to the need to set up the additional ROS2 local PC
- PC-to-ESP32-S3 Wi-Fi connection can suffer from dead reception zones, busy Wi-Fi
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no camera-based obstacle recognition
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mounts on OOMWOO carrier I/O board
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pin-compatible CM4/CM5 Compute Module using ESP32-S3 (instead of CPU)
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expose GPIOs on CM4/CM5 headers
- 1x serial to MCU
- GPIOs (MCU acts as watchdog for ESP32-S3, can reset it if ESP32-S3 is unresponsive)
- SPI (to IMU on I/O board)
- I2C
- 1x serial to LiDAR (via I/O board)
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Problem - no cameras, ESP32-S3 supports DVP parallel only, not MIPI