ClawDB ROS2 Robotics SDK (clawdb-ros2)

Official ROS2 package and Python SDK for connecting autonomous mobile robots (AMRs), inspection drones, and robotic manipulators to ClawDB persistent spatial memory.

⚡ Key Capabilities

• Sub-0.1ms Local Spatial Recall: In-memory spatial index ensures trajectory planners and obstacle avoidance controllers run at full frequency without cloud latency bottlenecks.
• Multi-Robot Collective Memory: Synchronize obstacles, blocked warehouse aisles, and spatial landmarks across an entire fleet in real-time.
• Nav2 Costmap Integration: Easily feed dynamic spatial memories directly into ROS2 Nav2 costmap layers.
• Cloud & Edge Resilience: Local offline caching with automatic background delta sync when network connectivity is restored.

🚀 Installation

Option 1: Standard Python Package (PyPI)

pip install clawdb-ros2

Option 2: Build inside your ROS2 Colcon Workspace

cd ~/ros2_ws/src
git clone https://github.com/Claw-DB/clawdb-ros2.git
cd ~/ros2_ws
colcon build --packages-select clawdb_ros2
source install/setup.bash

🤖 Quickstart

1. Launch the Spatial Memory Bridge Node

ros2 launch clawdb_ros2 memory_bridge.launch.py \
  api_key:="your_clawdb_api_key" \
  workspace_id:="your_workspace_id" \
  robot_id:="amr_01"

2. Record an Obstacle Memory in Python

from clawdb_ros2 import ClawClient, SpatialMemoryRecord

# Initialize client
client = ClawClient(
    api_key="your_clawdb_api_key",
    workspace_id="your_workspace_id"
)

# Record spatial blockage
client.record_spatial_event(
    SpatialMemoryRecord(
        frame_id="map",
        x=14.5,
        y=8.2,
        z=0.0,
        obstacle_type="pallet_spill",
        confidence=0.98,
        tags=["aisle_4", "amr_01"]
    )
)

3. Query Spatial Horizon in Real-Time (<0.1ms)

from clawdb_ros2 import SpatialMemoryIndex

index = SpatialMemoryIndex(memory_ttl_seconds=3600.0)

# Query obstacles within 5.0m radius of current robot coordinates
nearby = index.query_radius(x=14.0, y=7.5, radius=5.0)

for record, dist in nearby:
    print(f"Warning: {record.obstacle_type} at distance {dist:.2f}m")

🧭 ROS2 Node Topics & Parameters

Subscribed Topics

Published Topics

Parameters

🧪 Testing

Run unit tests locally:

pytest tests/

📜 License

MIT Licensed. Maintained by the ClawDB Robotics Team and open-source contributors.