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align=\"center\"\u003eCleanIt\u003c/h1\u003e\n\n[![Build Status](https://github.com/Sollimann/CleanIt/actions/workflows/rust-ci.yml/badge.svg)](https://github.com/Sollimann/CleanIt/actions)\n[![codecov](https://codecov.io/gh/Sollimann/CleanIt/branch/main/graph/badge.svg?token=EY3JRZN71M)](https://codecov.io/gh/Sollimann/CleanIt)\n[![minimum rustc 1.45](https://img.shields.io/badge/rustc-1.45+-blue.svg)](https://rust-lang.github.io/rfcs/2495-min-rust-version.html)\n[![version](https://img.shields.io/badge/version-1.0.0-blue)](https://GitHub.com/Sollimann/CleanIt/releases/)\n[![Maintenance](https://img.shields.io/badge/Maintained%3F-yes-green.svg)](https://GitHub.com/Sollimann/CleanIt/graphs/commit-activity)\n[![GitHub pull-requests](https://img.shields.io/github/issues-pr/Sollimann/CleanIt.svg)](https://GitHub.com/Sollimann/CleanIt/pulls)\n[![GitHub pull-requests closed](https://img.shields.io/github/issues-pr-closed/Sollimann/CleanIt.svg)](https://GitHub.com/Sollimann/CleanIt/pulls)\n![ViewCount](https://views.whatilearened.today/views/github/Sollimann/CleanIt.svg)\n[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)\n\n\u003cp align=\"center\"\u003e\n    \u003cem\u003eOpen-source Autonomy Software in Rust-lang with gRPC for the Roomba series robot vacuum cleaners\u003c/em\u003e\n\u003c/p\u003e\n\n\u003cp align=\"center\"\u003e\n  \u003cimg src=\"https://github.com/Sollimann/CleanIt/blob/main/resources/gifs/roomba.gif\"\u003e\n\u003c/p\u003e\n\n## Motivation\n\nMotivation 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.\n\n## Contributions are welcome!\n\nWould you like to contribute with work and/or ideas, feel free to check out the [Project Backlog](https://github.com/Sollimann/CleanIt/projects)\n\n## Run the Roomba client and API\n\n#### Run the server\n\n```\n$ cargo run --bin streaming-server\n```\n\n#### Run the client\n\n```\n$ cargo run --bin roomba-client\n```\n\n## Structure\n \n#### Project Layout\n ```bash\n ├── Cargo.toml (workspace)\n ├── Cargo.lock\n ├── api (lib/bin)\n |   └── client\n |   └── server\n ├── autonomy (bin)\n |   └── mission\n |   └── motion\n |   └── slam\n |   └── perception\n |   └── risk\n ├── drivers (lib)\n |   └── roomba\n |   └── realsense\n |   └── rplidar\n |   └── raspberryPi\n └── proto (lib)\n |   └── roomba_service.proto\n |   └── messages.proto\n |   └── types.proto\n |   └── robot_state.proto\n |   └── map2D.proto\n ├── setup (bin)\n |   └── config\n |   └── main\n └── visualization (bin)\n |   └── urdf\n |   └── map\n |   └── camera\n ```\n \n#### Crate/package Layout\n```bash\n├── Cargo.toml\n├── Cargo.lock\n├── src\n│   ├── main.rs\n│   ├── lib.rs\n│   └── bin\n│       └── another_executable.rs\n├── tests\n│   └── some_integration_tests.rs\n├── benches\n│   └── simple_bench.rs\n└── examples\n    └── simple_example.rs\n```\n\n## Pre-requisites\n\n### *Software*\n\n#### _Linux_\n```bash\n$ [sudo] apt-get install libudev-dev pkg-config\n```\n\nUser serial permission is required to connect to Create over serial. You can add your user to the dialout group to get permission:\n\n```bash\n$ [sudo] usermod -a -G dialout $USER\n```\n\nLogout and login again for this to take effect.\n##### _MacOs_\n```bash\n$ brew install *TODO*\n```\n\n### *Hardware*\n - 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 )\n - Raspberry Pi 4 (4GB)\n - Intel RealSense D435 or D435i depth camera\n \n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fsollimann%2Fcleanit","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fsollimann%2Fcleanit","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fsollimann%2Fcleanit/lists"}