cleanit's Introduction

CleanIt

Open-source Autonomy Software in Rust-lang with gRPC for the Roomba series robot vacuum cleaners

Motivation

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.

Contributions are welcome!

Would you like to contribute with work and/or ideas, feel free to check out the Project Backlog

Run the Roomba client and API

Run the server

$ cargo run --bin streaming-server

Run the client

$ cargo run --bin roomba-client

Structure

Project Layout

├── 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

Crate/package Layout

├── 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

Pre-requisites

Software

Linux

$ [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 $USER

Logout and login again for this to take effect.

MacOs

$ brew install *TODO*

Hardware

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

cleanit's People

Contributors

Stargazers

Watchers

cleanit's Issues

use message-queue between processes

The architecture can be improved by using e.g NATS for messaging between services, while using gRPC as a forward facing API (facade) for the user. This should improve the design.

Could also look into using actix actor framework instead of NATS

Odometry covariance computation bug?

Thanks for the covariance computations at https://github.com/Sollimann/CleanIt/blob/main/autonomy/src/slam/README.md !

However, in the definition of $F_p = \frac{\delta f}{\delta x, \delta y, \delta\theta}$, it seems to me the equation for $\frac{\delta f}{\delta\theta}$ should have $\Delta s$ in absolute values (on both first and second row). I can't figure out mathematically why it should be so, but practically, if I use the signed $\Delta s$, the covariance decreases when the robot reverses, which is probably not what you want.

Do you also observe this behavior?

sollimann / cleanit Goto Github PK