WEBVTT

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Okay, good afternoon, so today Nikoi and I would like to share a vision which is simple,

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safe and open robotics and today we're going to show you how to build your first hostile

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hover with rust and pixie, so we have a lot to, we have a lot to back into this experiment

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talk, so let's try it in, so the agenda is quite clear, first I will briefly introduce

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our background and the why behind this experiment and then Nikola will work you through the

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technical implementation and the hard one lessons learned along the way, so we are both from

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botronics and since 2023 we've focused on outdoor navigation, our first product displayed here

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is XE, it's autonomous and digital golf caddy, it's already roaming golf courses along the way

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as we speak now, sorry, and by moving from a prototype to hardware B2C product used by non-tech

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keys means that our standards for stability are incredibly high, in robotics we often fight

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two monsters, so first it's the dependency hell and the other one is memory and safety, that's

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why before considering integrating new tools or new technologies inside our technical stack,

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we battle test them in isolated proof of concepts, for this project we put three technologies

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under the microscope, so the first one is pixie, so it's a modern package manager for robotics,

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RCLRS, it's the official rust bindings for rust to paired with blue R, just to have a complete

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pure rust logic flow, we didn't just want to have an internet prototype, so with first them

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approaching we wanted to lower the barrier to entry for memory safe robotics, the mission was quite

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simple, we wanted to create a jetbot like rover with an easy to source hardware and an affordable

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bomb, so the idea was also to create a full open source GitHub repository with an easy to follow

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a wiki and all of that we want on top of that we wanted to include a simulation on gazebo,

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so you can code even before even the parts even arrived, sorry, I'll end it over to Nico now,

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so you can explain how he glued rust to when rust together without losing his mind, or at least mostly,

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so the goal was clear, so the goal was to put the rust to binding for rust trade spaces

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for that we had to use all the tools that made a good rust to client, a good rust to client,

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so what we did is we implemented an action server which allowed the rover to spin on its

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own, then a service which allowed you to take snapshots using the onboard camera and a

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publisher subscriber which is used to try the projects but mostly for today operation,

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to see how we could integrate hardware using rust and use blue r, we made a small

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Bluetooth low energy server which takes all the command from the remote controller and we used

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pixie to work spaces so one to install and build epsilon rs and a second to for our project

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it allowed us also to install kilted alongside our own jazzy install for our other projects

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so this is the structure of our project so on the left you have the remote controller you

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are using a rotatouille and on the right you have the main project structure, so everything goes

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through a Bluetooth server which interprets the commands and sends them to a command dispatcher

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so it can be either a goal through the spinner action server which gives feedback and the results

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a publisher subscriber for teleportation so it's just a command well going through rust to control

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and a camera node implementing the service that is called and send the response

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all the rest is not rust to rust so I don't think it's really interesting

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our wiki explains everything so I would do did it so I think it's more interesting to give our

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takeaways so for pixie it's really easiest the installation of rust and rust packages

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it is your entire workflow for the new dependencies it's completely this for agnostic so you can

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install kilted on open to 22 without any problem and it gives you a uniform tool for managing

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your dependencies to create your own make files and it really doesn't have any overhead to go

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from your host Ubuntu to for instance for us the Raspberry Pi the concept is that for now

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the robust stack repository isn't fooled for all the rust distro so for kilted we didn't have the

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web server to to cast images and there is not yet any rolling robust stack repository

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it is not possible yet to install a pity dependencies using pixie so you still have to

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have another tool to install other dependencies and you can have some sometimes conflicts with native

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development installation we are the case with the open cv for a rust to rust so a big disclaimer

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none of the us engineer are experts in rust so take it with the grain of salt but rust to rust gives

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you all the advantages you want from rust so it's with the threading made easy it is safe by design

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and it gives you all the advantages of cargo so it's easy to depend for your dependency management

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and it's performance but for now as said before the documentation of rust to rust is not

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perfect and there is a lack of established good practices especially for beginners

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but the project is still in development so we can hope that it's going to be better

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in the next stages we still have to build it from source and there are some small missing features

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like for other action servers there is no wait for action so sometimes your projects just keep

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going on and you don't have your gold scent and at least for beginners it's hard to build

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complete nodes and complex nodes with a clear structure so sometimes it can get a bit hard

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so in the clear this is our journey with rust to rust so it's great but as a junior you just

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have a hard time compiling your code so this is it thank you so all the code the weekie and

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the bum are already live on GitHub so we would love for you to just focus try to break it and

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help us improving it and we do not have a lot of time for career and I guess so just come and

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find us we would love to chat about rust to rust pixie or just rubber ticks in general thank you

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you