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Roadmap.md

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OpenVMP

Below you can see some draft ideas that you can work on as a contributor.

Reach out to [email protected] and/or submit your pull request.

Short term tactical needs

  • fix the URDF model to get rid of vibration during simulation
  • fix Gazebo world physics to prevent the model from "flying away"
  • specialized ros2_control controller for walking
  • add odometry components
  • add SLAM components

Long term strategic goals

Robot hardware features

  • Uplink modules
    • Template module to bring connectivity up and down based on run-level
    • 4G/LTE module
    • GPRS module
    • Satellite data module
    • 5G module
  • Audio module (optional)
  • NUC extension (optional)
  • Contactless charging from power lines (optional)
    • City power lines
    • Intra-city power lines
  • Solar charging
    • Statically mounted (optional, with a limited surface)
    • Deployable (optional, with a larger surface)

Robot software features

  • Communications module
    • subscribe to events on DDS and push them to gRPC
    • subscribe to events on gRPC and push them to DDS
  • Audio module (requires hardware)
    • Audio recording
    • Voice recognition (command match)
    • Voice recognition (person match)
  • NUC extension (requires hardware)
    • Module on Raspberry PI to bring NUC up and down gracefully
    • Image for NUC to host computation hungry modules
      • Module for building point clouds using stereo cameras
      • Module for building a world model using point clouds
    • Module on Raspberry PI to program NUC
      • on first boot / firmware upgrade
      • OTA update from Cloud

OpenVMP ecosystem features

  • Cloud microservices & API (Golang + gRPC + Protobuf)
    • Location reporting (sub, robot to report)
    • Location monitoring (pub, clients to monitor)
  • React-native-web application configurable to use arbitrary API URLs
  • Cloud deployment scripts to deploy a private instance of OpenVMP API
    • CloudFormation for AWS
    • Terraform for GCP
      • AppEngine
      • Docker in GCE
      • GKE
    • Azure
  • Parts database
    • specs
    • up-to-date links where they can be purchased
  • VR
    • Robot control using Unity
    • Support for Oculus Quest 2
      • render from PC
      • render from cloud

ROS2 ecosystem features

  • Extensions for RViz interactive markers
    • to display play/pause symbols for each joint (in the center of the same plane where the other markers are displayed now) to be used for pausing movement routines or for engaging/disengaging joint brakes