!!! DEPRECATED !!!
This project has been deprecated, latest verison of the the code can be found in
https://gitlab.com/roxautomation/machines/gamma
Project roxbot is a handbook for robotcs developers. It is intended as a knowledge base, providing a series of examples, reusable library code and tips and tricks for building robotic systems.
Common use case is an AGV, navigating with an RTK-GPS module.
Note: watch this repository to be notified about updates. (we don't do spammy mailing lists)
Well, ROS2 has some nice concepts, but it can be complex and complicated. Besides, ROS is C++ centric, which makes it a bit old-fashioned. Another shortcoming is a large codebase that has not been widely tried and tested in real world applications.
- KISS (keep it simple, stupid): - let's make robotics easier by reducing complexity.
- Less Code Equals Fewer Problems: - keep codebase small and portable. "Code is not an asset but a liability"
- Don't reinvent the wheel - leverage robust existing technologies. Think of
asyncio,Dockeretc.
ROXBOT takes familiar ideas from ROS2 and makes them easier to use and more Python-friendly:
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Nodes: These are small, focused classes that perform specific tasks within the robotics application. For example, one Node might manage sensor data while another controls a motor.
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Interfaces: These are standardized formats that ensure consistent data exchange between Nodes. This makes it easy for different parts of your project to communicate and work together effectively.
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Subsystems: This term refers to a group of Nodes that work together to perform a broader function like motion control or data logging. These subsystems can be packaged into Docker containers for easy deployment and scaling.
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System: This is the complete set of subsystems working together as a whole, forming a fully functional robotic system. We manage these as a Docker stack to ensure they are robust and scalable.
images are found in docs/uml
run invoke uml to update.