andino-rs

Oxidizing the andino robot.

🌐 Description

This project provides a rustacean version of the andino robot.

Tip

andino is a fully open-source diff drive robot designed for educational purposes and low-cost applications. Its ecosystem comprehends several integrations with many frameworks and simulations. Refer to official website: https://github.com/Ekumen-OS/andino to know more about andino and its ecosystem.

Prerequisites

For the real robot, refer to official instructions on building an andino.

For simulation, refer to workspace setup instructions.

Platforms

• OS:
  • Ubuntu 22.04 Jammy Jellyfish
  • Ubuntu Mate 22.04 (On real robot (e.g: Raspberry Pi 4B))

📦 Project structure

• andino: Core library for andino robot. It provides a hardware abstraction layer (HAL) to communciate with the andino robot.
• andino_dora: It provides dora dataflows to run andino-integration.
• andino_dora_sim: It provides dora dataflows to run andino simulation.
• dora_node_hub: Dora nodes.
  • dora_andino_hal: Integration of the andino hal with Dora.
  • dora_andino_mujoco_sim: Integration of the andino mujoco simulation with Dora.
  • dora_diff_drive_controller: Differential drive controller to be used in Dora frameworks.
  • dora_teleop_keyboard: Dora node for teleoperating mobile robots using the keyboard.

⛏️ Workspace setup

Refer to .devcontainer/README.md

⚙️ Build

Build systems

This repository combines both rust and python packages. cargo and uv are the tools of choice.

• Building rust packages:

  cargo build
  

• Building python packages:

  uv build --all-packages
  

dora Integration

What is dora? See https://dora-rs.ai/

andino_dora package

andino_dora package provides serveral dora dataflows to use with the andino robot.

Check andino_dora's README for more information on how to run it.

andino_dora_sim package

andino_dora_sim package provides serveral dora dataflows for using simulations instead of the real robot to speed up development or if you don't have an andino built yet.

Check andino_dora_sim's README for more information on how to run it.

dora_node_hub folder

Dora nodes created to support the dora integration. These nodes are used in many of the dataflows created at andino_dora and andino_dora_sim packages. See dora_node_hub folder.

Appendix

On Running the Dora dataflows

dora run <path_to_dataflow> runs the dataflow locally. Alternatively, you can run first the coordinator and daemon with dora up and then dora start <path_to_dataflow> to start the dataflow. By default the coordinator is run at localhost and daemon pointing there. You can use a different setup. Follow the options from the dora --help CLI.

🙌 Contributing

Issues or PRs are always welcome! Please refer to CONTRIBUTING doc.

Code development

• Workspace setup: Refer to .devcontainer/README.md
• This repository uses pre-commit.
  • To add it to git's hook, use:

  pip install pre-commit
  pre-commit install
  

  • Every time a commit is attempted, pre-commit will run. The checks can be by-passed by adding --no-verify to git commit, but take into account pre-commit also runs as a required Github Actions check, so you will need it to pass.