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91 lines
4.4 KiB
Markdown
91 lines
4.4 KiB
Markdown
# Multi Roomba Rover
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a remake of my RoombaRover project with a decentralized and embedded approach
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supports multiple roombas
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on each roomba:
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- a raspberry pi zero 2 w
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- a raspberry pi camera
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- roomba's serial port hooked up to the built in serial port on the raspberry pi
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pi provisioning:
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- enable serial port
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- disable wifi powersave
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- disable bluetooth
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## Repo layout
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- `pi/roverd`: tiny Go daemon that bridges the Create 2 serial port, BRC pin, and the control server via WebSockets.
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- `server`: Node.js process that terminates rover sockets, relays commands to/from the Socket.IO UI, and serves `public/`.
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- `pi/systemd` / `pi/mediamtx`: ready-to-drop systemd units and a minimal mediaMTX config for WebRTC publishing (roverd can optionally supervise the mediamtx service).
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- `docs/pi-deployment.md`: per-rover build + install instructions (cross-compiling on Fedora 43, deploying roverd + mediaMTX).
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## Quick start
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```bash
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# build the Pi agent (armv7)
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cd pi/roverd
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mkdir -p ../../dist
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make pi-build
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# start the server + UI
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cd ../../server
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npm install
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npm run start
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```
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Need a fake rover or multi-rover testing without hardware? Use the dummy build:
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```bash
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cd pi/roverd
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mkdir -p ../../dist
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make dummy
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./../../dist/roverd-dummy -config ./roverd.sample.yaml
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```
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The dummy binary connects to the Node server, emits simulated sensor frames, and logs every command it receives, so you can spin up as many virtual rovers as you’d like on your dev machine.
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## Admin config & authentication
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Before running the Node server, copy `server/config.example.yaml` to `server/config.yaml` and customize the admin records (password hashes, Discord IDs, lockdown permission). Those credentials are used by the driver UI’s login panel—only admins can toggle locks/modes, and lockdown admins retain access when the system enters lockdown mode. The spectator page (future) can set `role:set` to `spectator`, and the server enforces all permissions server-side so client tweaks can’t grant extra control.
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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):
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```bash
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cd ~/MultiRoombaRover
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sudo ./pi/install_roverd.sh --mediamtx
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```
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Then point each rover's `/etc/roverd.yaml` at `ws://<server>:8080/rover`, set (or leave blank to auto-derive) `media.whepUrl` for the Pi’s mediaMTX instance (defaults to `http://<pi-ip>:8889/whep/rovercam`), enable the sensor stream from the UI, and drive with WASD.
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Use the “Restart Camera” button if you enable media management so roverd can bounce the mediamtx service remotely.
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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.
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## Fedora server deployment
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Run the installer from inside the `server/` directory after cloning the repo onto your Fedora 43 Server box:
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```bash
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cd ~/MultiRoombaRover/server
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sudo ./install_server.sh
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```
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The script must be executed via `sudo` from the user that owns the repo. It will:
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- install Node.js/npm plus curl/tar
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- run `npm install --production`
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- copy `config.example.yaml` to `config.yaml` if needed (edit the file afterwards for admins/media URLs + `media.mediamtxApiUrl`)
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- download mediaMTX v1.15.3 and drop it into `/usr/local/bin`
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- write `/etc/mediamtx/mediamtx.yml` that points to the Node server’s `/mediamtx/auth` webhook
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- create + enable `mediamtx.service` and `multirover.service`, both running as your repo user and pointing at the clone directly
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Publishing rovers lives on a trusted network, so the generated config skips HTTP auth for the `publish` action (only playback hits the Node webhook). If you already ran an older installer, edit `/etc/mediamtx/mediamtx.yml` and add:
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```yaml
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authHTTPExclude:
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- action: publish
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```
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Then restart `mediamtx.service` so WHIP pushes from the Pis stop getting rejected.
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Once finished, update `server/config.yaml` with your admin passwords, `media.whepBaseUrl` (public playback URL), and the new `media.mediamtxApiUrl` (usually `http://127.0.0.1:9997`). The Node server uses that API to create per-rover pull paths so the central mediaMTX automatically connects to each Pi’s WHEP feed as rovers come and go. Restart `multirover.service` whenever you edit the config. To pull updates later, just `git pull`, re-run `npm install --production` inside `server/`, and restart the service—no need to rerun the installer.
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