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Open-source Autonomy Software in Rust-lang using gRPC for the Roomba series robot vacuum cleaners. Under development.
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Sollimann/CleanIt
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Open-source Autonomy Software in Rust-lang with gRPC for the Roomba series robot vacuum cleaners
Motivation is to build a complete DIY autonomy software from scratch (motion planning, guidance and motion control, SLAM, mission control, 2D/3D visualization etc..) with a real-time client-server communication stream using async gRPC for intercommunication and distributed compute.
Would you like to contribute with work and/or ideas, feel free to check out theProject Backlog
$ cargo run --bin streaming-server$ cargo run --bin roomba-client├── Cargo.toml (workspace)├── Cargo.lock├── api (lib/bin)| └── client| └── server├── autonomy (bin)| └── mission| └── motion| └── slam| └── perception| └── risk├── drivers (lib)| └── roomba| └── realsense| └── rplidar| └── raspberryPi└── proto (lib)| └── roomba_service.proto| └── messages.proto| └── types.proto| └── robot_state.proto| └── map2D.proto├── setup (bin)| └── config| └── main└── visualization (bin)| └── urdf| └── map| └── camera
├── Cargo.toml├── Cargo.lock├── src│ ├── main.rs│ ├── lib.rs│ └── bin│ └── another_executable.rs├── tests│ └── some_integration_tests.rs├── benches│ └── simple_bench.rs└── examples └── simple_example.rs
$ [sudo] apt-get install libudev-dev pkg-config
User serial permission is required to connect to Create over serial. You can add your user to the dialout group to get permission:
$ [sudo] usermod -a -G dialout$USERLogout and login again for this to take effect.
$ brew install*TODO*
- iRobot Create 2 (or iRobot Roomba 6xx series with serial USB cable -https://store.irobot.com/en_US/parts-and-accessories/create-accessories/communication-cable-for-create-2/4466502.html )
- Raspberry Pi 4 (4GB)
- Intel RealSense D435 or D435i depth camera
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Open-source Autonomy Software in Rust-lang using gRPC for the Roomba series robot vacuum cleaners. Under development.