ROAMR: Really Opensource Autonomous Mobile Robot

Mobile phones and mobile robots have many common requirements:

• performant sensors (cameras, IMUs, LiDAR, GPS) and sensor fusion
• networking capabilities (WiFi, Bluetooth Low Energy, LTE)
• energy efficiency

What if we turned the iPhone into a robot?

Architecture

iOS host app:

• exposes the core sensor data through iOS APIs

  • Camera
  • LiDAR (iPhone Pro 12+)
  • IMU

• runs WASM bytecode using statically compiled WAMR iwasm

• communicates with ESP32 over BLE to control motors

• TODO: enable dynamic WASM loading through LocalSend

WASM module:

• imports read sensor functions from iOS host
• multi-threaded application with autonomy logic
• compiled using WASI-SDK and threading
  • C++: https://github.com/WebAssembly/wasi-sdk

ESP32:

• recieves commands over BLE and uses SimpleFOC to control motors

Setup

pip install pre-commit
pre-commit

Run App with Robot

• Open/build iOS app.
• Connect to bluetooth using the app
• Drive robot!

Optional:

• Open HTML page in webpage folder.
• Run websocket on the websocket page of the app
• Connect to app websocket
• Drive robot!

Localization Demo

See WASM/README.md