Teleroomba

Info

A telepresence researching project that build for NYU NYC/Abu Dhabi/Shanghai campus.
Thanks to Open Source Hardware Community, we hacked iRobot-Create roomba with Arduino(DFRobot Bluno), and created a telepresence robot.

This repo coontains the source code of the original project.
For more documentation of this project, please visit: www.rubinhuang.com/#teleroomba

History + Future Development

Teleroomba 1.x

A 2D video and real time communication telepresence robot

The following image provides the concept of this project(teleroomba 1.x).

It’s a roomba based robot which controlled from a web + Android + Arduino system. User can control the robot from a web browser with keyboard input/mouse/touch screen.

Teleroomba 2.x

A 2D/3D video and real time communication telepresence robot

It’s a roomba based robot which controlled from a web + Android + Arduino system. With the power of Lattepanda and Linux, this model is able to live stream a UV map from 360 camera like thetaS.

User can control the robot from a web browser with keyboard input/mouse/touch screen. An individual window will stream the 360 video.

Teleroomba 3.x

A 2D/3D video and real time communication telepresence robot

A fully integrated system on Linux runs on lattepanda/raspberry Pi support multi HDMI-Input/output, connect to live stream engine, webGL and even Unity game features.

Software and hardware structure

The following imgae shows current version of teleroomba(2.x)

Video and documentations

documented over iterations
Teleroomba 1.x
Video

Details


Teleroomba 2.x
Lattepanda + Node.js

Circuit

Interface

More documentation in this link

Hacking of the iRobot

Hacking documentation in google slides:

https://docs.google.com/presentation/d/1esRmssKKQKUmZPN4M6qO2HnMcj071nKUZhuvG29GHJI/edit?usp=sharing

Offical iRobot® Create® 2 Open Interface (OI):

http://www.irobotweb.com/~/media/MainSite/PDFs/About/STEM/Create/iRobot_Roomba_600_Open_Interface_Spec.pdf?la=en

Build

see 1.x build wiki
see 2.x build wiki

Control Manual

You can connect to turn server and call the mobile device on roomba(default auto connect and call) and establish bluetooth connection between the device & Roomba's serial port from control terminal. Full manual list here:

1. Connect with id
2. Call device with id
3. Bluno BLE scan
4. Restart safty mode
5. Serial board reset
6. Auto Docking

HUD display

Distance A group of lines accroded to the perspective of the lense for helping driver to estimate the distance.

Direction A rough predict of your crusing path, it will only show turning sign when roomba is doing same spot turning.

Credits + Resource

Credits + Thanks:

Early contributor:
Rubin Huang
Marc Abbey

Advising:
Dan O'sullivan
Shawn Van Every

Current API:

coming soon....

More related projects:

From iRobot.com

http://www.irobot.com/About-iRobot/STEM/Create-2/Projects.aspx

From random hackers:

Johnny Chung Lee's DIY Telepresence Robot(2011) with source code and intruductions http://procrastineering.blogspot.com/2011/02/low-cost-video-chat-robot.html