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88 lines
5.4 KiB
Markdown
88 lines
5.4 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/bin` / `pi/systemd`: helper scripts + systemd units for the rover (roverd itself plus the SRT video publisher that streams camera feeds to the server).
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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 installs roverd plus the SRT video publisher service):
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```bash
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cd ~/MultiRoombaRover
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sudo ./pi/install_roverd.sh
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```
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Then point each rover's `/etc/roverd.yaml` at `ws://<server>:8080/rover`, set `name` to the rover’s ID, and (optionally) override `media.publishUrl` if your control server isn’t `192.168.0.86`. The video publisher service (`video-publisher.service`) captures the Pi camera with `rpicam-vid`/`libcamera-vid`, pipes the raw H264 into the stock FFmpeg binary, and publishes via SRT to the server’s mediaMTX instance at `srt://<server>:9000?streamid=#!::r=<name>,m=publish`. The installer now just pulls `libcamera-apps` + `ffmpeg` from apt (no custom build). Use the “Restart Camera” button if you enable media management so roverd can bounce the publisher 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.whepBaseUrl`)
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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` from `server/mediamtx/mediamtx.yml` (SRT ingest on :9000, open ingest, viewer auth webhook at `/mediamtx/auth`)
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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 shipped config (tracked at `server/mediamtx/mediamtx.yml`) skips HTTP auth for SRT ingest and whitelists any path that matches `rover-*`. The installer overwrites `/etc/mediamtx/mediamtx.yml` every time you run it—if you need to tweak ports or add TURN servers, edit the template in the repo and rerun `install_server.sh` so every box stays in sync automatically.
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Once finished, update `server/config.yaml` with your admin passwords and `media.whepBaseUrl` (`http://192.168.0.86:8889/whep`). The UI appends the rover ID to whatever you provide; if you prefer a different layout, include `{roverId}` or `{id}` in the URL (for example `http://192.168.0.86:8889/{id}/whep`). 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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### Video handshake + diagnostics
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- Every `video:request` returns `{ url, token }`. The browser posts the SDP offer to `url` and includes `Authorization: Basic base64(token:token)`. mediaMTX forwards the username (`token`) to `/mediamtx/auth`, which checks the socket’s permissions (driver assignment, admin/spectator role, lockdown state) and either returns 200 or 401—no query parameters are involved anymore.
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- To see what mediaMTX is ingesting from the Pis, run `npm run check:media` (or `node scripts/checkMedia.js`). It hits `/v3/paths/list` and prints each rover’s `ready` state and byte counters so you can instantly spot publish issues.
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