Rustacean RoboRescue

A high-performance, multi-language ROS 2 platform for rescue robots, featuring a robust Rust core for low-level control and Zenoh for low-latency remote operation.

Core Technologies

• Communication: Zenoh (rmw_zenoh_cpp) with QUIC mTLS for secure, low-latency telemetry over unstable Wi-Fi.
• Hardware Drivers: Safety-critical drivers (IMU, Arm) implemented in Rust; high-speed motion control (Tracks, Flippers) in C++.
• Perception: LiDAR-IMU fusion (FAST-LIO2), SLAM (slam_toolbox), and hardware-accelerated QR detection.
• Operation: Foxglove Studio integration + dual-mode (IK/Direct) arm control with PS4 controller.
• Environment: Nix-based reproducible development environment.

Repository Structure

• main_ws/: Robot-side ROS 2 workspace (Drivers, Control, SLAM).
• operator_ws/: Operator Station workspace (UI, Controller Bridge).
• docs/: Technical documentation and operation manuals.
• deploy/: Deployment scripts for Intel NUC and udev rules.
• stm32_ws/: Embedded firmware for sensor processing.

Quick Setup

1. Requirements

• Linux (Ubuntu 24.04 or NixOS recommended)
• Nix with Flakes enabled.

2. Enter Development Environment

nix develop --accept-flake-config

3. Build & Launch (Robot)

cd main_ws
just forge
just launch

4. Launch (Operator)

cd operator_ws
# Acquire security certificate from robot
just get-cert <ROBOT_IP>
# Start operator station
just launch

# (Optional) Start Foxglove Studio UI via Nix
just foxglove

Documentation

• Operation Manual: Step-by-step guide for deployment and control.
• System Architecture: Detailed node graph, networking, and data flow.
• Package Inventory: List of all modules and their roles.
• Networking & Security: Mermaid diagram of the Zenoh QUIC setup.

License

Apache-2.0