CleanIt

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

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.

## Structure

#### Project Layout bash ├── Cargo.toml (workspace) ├── Cargo.lock ├── api (bin) | └── server ├── core (bin) | └── mission | └── motion | └── slam | └── perception | └── risk ├── drivers (lib) | └── roomba | └── realsense | └── rplidar | └── raspberryPi └── proto | └── sensors.proto | └── state.proto | └── map2D.proto └── 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