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Modular Robot System With Elegant Automation Capabilities

Project description

RoSys - Zauberzeug Robot System

Currently RoSys is meant to be run on the Zauberzeug Robot Brain.

Usage

Installation

sudo apt-get install libcurl4-openssl-dev libssl-dev # required for pycurl
python3 -m pip install rosys
python3 -m pip install nicegui # web user interface

Development

Starting

There are some specialities needed to start the RoSys in different environments. To simplify the usage we wrapped this in a script ./docker.sh.

Configuration

You can configure the system by putting these variables into the /.env file:

  • ESP_SERIAL=/dev/ttyTHS1: path to the esp devices; default is /dev/null to be able to start RoSys anywhere
  • USE_CAMS=true: weather RoSys should use Zauberzeug Smart Cams for tracking

Under The Hood

  • there is no host network on Mac so the conf is overwritten (on real robots it's necccessary to scan for cameras)
  • the services will start automatically on jetson when rebooting or crashing to simplify work with real robots

Continuous Build

We build with Drone. Run locally with

drone starlark .drone.star && drone exec --trusted --exclude slack  .drone.yml

Profiling

In the system container run

kernprof profiling.py

to generate the profiling data. View them with the interactive tool

python -m pstats profiling.py.prof

Project details


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