# Multi Roomba Rover

a remake of my RoombaRover project with a decentralized and embedded approach
supports multiple roombas

on each roomba:
- a raspberry pi zero 2 w
  - a raspberry pi camera
- roomba's serial port hooked up to the built in serial port on the raspberry pi

pi provisioning:
- enable serial port
- disable wifi powersave
- disable bluetooth

## Repo layout

- `pi/roverd`: tiny Go daemon that bridges the Create 2 serial port, BRC pin, and the control server via WebSockets.
- `server`: Node.js process that terminates rover sockets, relays commands to/from the Socket.IO UI, and serves `public/`.
- `pi/systemd` / `pi/mediamtx`: ready-to-drop systemd units and a minimal mediaMTX config for WebRTC publishing (roverd can optionally supervise the mediamtx service).
- `docs/pi-deployment.md`: per-rover build + install instructions (cross-compiling on Fedora 43, deploying roverd + mediaMTX).

## Quick start

```bash
# build the Pi agent (armv7)
cd pi/roverd
mkdir -p ../../dist
make pi-build

# start the server + UI
cd ../../server
npm install
npm run start
```

Deploy a rover by copying the repo + `dist/roverd` to the Pi and running the helper (it will also fetch mediaMTX when `--mediamtx` is set):

```bash
cd ~/MultiRoombaRover
sudo ./pi/install_roverd.sh --mediamtx
```

Then point each rover's `/etc/roverd.yaml` at `ws://<server>:8080/rover`, enable the sensor stream from the UI, and drive with WASD.
Use the “Restart Camera” button if you enable media management so roverd can bounce the mediamtx service remotely.
Heads-up: the BRC pulser now uses libgpiod; make sure the `roverd` service account is in the `gpio` group (or otherwise allowed to access `/dev/gpiochip*`) and set `brc.gpioChip` if your hardware exposes a different chip name.