jackarivera/robomop

RoboMop is an autonomous mobile robot capable of mopping floors.

Autonomous Robot Mop Web Application

Welcome to the Autonomous Robot Mop Web Application! This project allows you to control an autonomous robot mop using a sleek, modern web interface. The application includes features like real-time mapping, manual control with a joystick, settings configuration, and scheduling cleaning routines.

This guide will walk you through installing all the necessary components to get the application up and running.

Table of Contents

• Prerequisites
• Installation Overview
• Backend Setup
  1. Install System Dependencies
  2. Set Up Python Virtual Environment
  3. Install Backend Python Packages
  4. Initialize the Database
  5. Run the Backend Server
• Frontend Setup
  1. Install Node.js and npm
  2. Install Frontend Dependencies
  3. Run the Frontend Development Server
• ROS2 Integration
  1. Install ROS2
  2. Install rosbridge_server
  3. Run rosbridge_server
• Running the Application
• Project Structure
• Additional Notes
• Troubleshooting
• License
• Contact

Prerequisites

• Operating System: Ubuntu 22.04 LTS (or Ubuntu 24.04 if available)
• Python: 3.8 or higher
• Node.js: 14.x or higher
• npm: 6.x or higher
• ROS2: Humble Hawksbill (or latest version)
• Git: For cloning the repository

Installation Overview

The installation involves setting up both the backend and frontend components, as well as integrating ROS2 for robot communication.

• Backend: A Flask server with a RESTful API to handle shared settings and schedules.
• Frontend: A React application with enhanced UI, including icons and improved page integration.
• ROS2 Integration: Using rosbridge_server for WebSocket communication between ROS2 and the web app.

Backend Setup

1. Install System Dependencies

Open a terminal and update your package list:

sudo apt update
sudo apt install python3-pip python3-venv git


# Update package list
sudo apt update

# Install Python and virtual environment
sudo apt install python3-pip python3-venv

# Install Node.js and npm
sudo apt install nodejs npm

# Install pip dependencies
pip install -r requirements.txt

# Install ROS2
sudo apt install software-properties-common
sudo add-apt-repository universe
sudo apt update
sudo apt install ros-jazzy-desktop

# Source ROS2 setup script
echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc
source ~/.bashrc

robot_ui/
├── public/
│   └── index.html
├── src/
│   ├── components/
│   │   ├── Navbar.js
│   │   ├── MapView.js
│   │   ├── ControlPage.js
│   │   ├── SettingsPage.js
│   │   └── SchedulingPage.js
│   ├── App.js
│   ├── index.js
│   └── styles/
│       └── styles.css
├── package.json
└── ...

## Starting the Web Server

1) Running the rosbridge_server

ros2 launch rosbridge_server rosbridge_websocket_launch.xml

2) Running the backend app

cd robomop_web/robot_ui/backend
python app.py

3) Running the frontend ui

cd robomop_web/robot_ui/src
npm start