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.

The SLAM part is work-in-progress here: https://github.com/Sollimann/Occupancy-Grid-FastSLAM/tree/main

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
│   └── someintegrationtests.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