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https://github.com/sollimann/cleanit
Open-source Autonomy Software in Rust-lang using gRPC for the Roomba series robot vacuum cleaners. Under development.
https://github.com/sollimann/cleanit
autonomous-robots autonomy grpc irobot missionplanner motion-control motion-planning obstacle-avoidance pathplanning robot-localization robotics roomba ros rust rust-lang sensor-fusion serial slam vacuum-robot
Last synced: 2 days ago
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Open-source Autonomy Software in Rust-lang using gRPC for the Roomba series robot vacuum cleaners. Under development.
- Host: GitHub
- URL: https://github.com/sollimann/cleanit
- Owner: Sollimann
- License: mit
- Created: 2021-01-09T15:22:54.000Z (almost 4 years ago)
- Default Branch: main
- Last Pushed: 2023-11-26T21:10:24.000Z (12 months ago)
- Last Synced: 2024-11-07T08:12:01.478Z (9 days ago)
- Topics: autonomous-robots, autonomy, grpc, irobot, missionplanner, motion-control, motion-planning, obstacle-avoidance, pathplanning, robot-localization, robotics, roomba, ros, rust, rust-lang, sensor-fusion, serial, slam, vacuum-robot
- Language: Rust
- Homepage:
- Size: 7.06 MB
- Stars: 270
- Watchers: 12
- Forks: 15
- Open Issues: 3
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
CleanIt
[](https://github.com/Sollimann/CleanIt/actions)
[](https://codecov.io/gh/Sollimann/CleanIt)
[](https://rust-lang.github.io/rfcs/2495-min-rust-version.html)
[](https://GitHub.com/Sollimann/CleanIt/releases/)
[](https://GitHub.com/Sollimann/CleanIt/graphs/commit-activity)
[](https://GitHub.com/Sollimann/CleanIt/pulls)
[](https://GitHub.com/Sollimann/CleanIt/pulls)
[](https://opensource.org/licenses/MIT)
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](https://github.com/Sollimann/CleanIt/projects)
## 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
```bash
├── 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
```bash
├── 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_
```bash
$ [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:
```bash
$ [sudo] usermod -a -G dialout $USER
```
Logout and login again for this to take effect.
##### _MacOs_
```bash
$ 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