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Merge pull request #1 from xbattlax/pi-runtime-jazzy-xbattlax
Add Raspberry Pi runtime install scaffold
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‎README.md‎

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![oomwoo Open source vacuum cleaner placeholder illustration](https://github.com/makerspet/oomwoo/raw/main/assets/vacuum-no-dock-front.webp)
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## Raspberry Pi runtime
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The current Docker image is a desktop development environment. For onboard robot
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work, see the lighter Raspberry Pi runtime scaffold:
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- [Pi 4/5 4GB runtime plan](docs/pi4_4gb_runtime_plan.md)
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- [Jazzy runtime install script](ubuntu/install_oomwoo_runtime_jazzy.sh)
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- [simulated MCU serial I/O](ubuntu/tools/oomwoo_sim_mcu_serial.py)
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## Release history
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### 7/8/2026
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- added a first Raspberry Pi 4/5 4GB runtime install plan
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- added simulated CPU-MCU serial I/O placeholder
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### 7/1/2026
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- added oomwoo-one ROS2 robot description package (simulation only)
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‎docs/pi4_4gb_runtime_plan.md‎

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# Raspberry Pi 4/5 4GB Runtime Plan
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This document sketches the first runtime path for running OOMWOO onboard on a
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Raspberry Pi 4/5 or CM4/CM5-class module with 4 GB RAM, then measuring how far
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the stack can be reduced toward a 2 GB target.
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The desktop Docker image remains useful for development and simulation. This
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runtime profile is for the robot computer: ROS2, SLAM, Nav2, LiDAR, high-level
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behavior, and a serial link to an MCU that owns motors, sensors, battery/charging
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supervision, watchdogs, and safety reactions.
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## Goals
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- Keep SLAM and navigation onboard for the consumer vacuum profile.
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- Start with a Pi 4/5 or CM4/CM5 4 GB runtime baseline.
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- Avoid Gazebo, desktop GUI tools, and development-only packages on the robot.
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- Add a simulated CPU-MCU serial interface until the real I/O board is ready.
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- Measure RSS/PSS/CPU before attempting 2 GB optimization.
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- Try ROS2 composition and launch/process layout before adding new language
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dependencies.
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- Keep Rust/rclrs as an optional later experiment for selected memory-heavy or
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latency-sensitive nodes.
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## Non-Goals For This First Scaffold
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- It does not replace the desktop Docker development image.
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- It does not provide a final production image.
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- It does not choose the final MCU firmware protocol.
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- It does not attempt Kilted, Lyrical, or Rolling yet.
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- It does not provide a costed hardware BOM; that belongs with the PCB design.
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## Runtime Package Direction
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Install ROS2 Jazzy from Debian packages, but prefer `ros-jazzy-ros-base` plus the
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robot packages that are actually needed:
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- Nav2 and Nav2 bringup
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- slam_toolbox
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- robot_state_publisher and xacro
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- robot_localization
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- tf2 tools used by launch/runtime
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- ros2_control and controllers when hardware interfaces need them
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- Fast DDS RMW, matching the current development image direction
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- Python serial tooling for the simulated MCU link
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Avoid in the first runtime profile:
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- `ros-jazzy-desktop`
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- Gazebo / ros_gz packages
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- GUI joint-state tools
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- simulation worlds
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- unrelated robot model packages
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- telemetry or web UI pieces until a runtime measurement requires them
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## Simulated CPU-MCU Serial Link
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Until the OOMWOO I/O board firmware exists, run:
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```bash
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python3 ubuntu/tools/oomwoo_sim_mcu_serial.py --link /tmp/oomwoo-mcu-serial
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```
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The tool creates a pseudo-terminal symlink such as:
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```text
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/tmp/oomwoo-mcu-serial
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```
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ROS2 bridge code can open that path as if it were the MCU serial device. The
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simulator emits newline-delimited JSON heartbeat/sensor frames and accepts simple
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command lines, replying with acknowledgements.
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This keeps the CPU-MCU contract testable while the real STM32G070 firmware and
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custom serial protocol are still being designed.
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## First Install Script
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The first scaffold is:
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```bash
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ubuntu/install_oomwoo_runtime_jazzy.sh
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```
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It is intentionally conservative:
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- installs ROS2 Jazzy runtime packages
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- creates `~/oomwoo_runtime_ws`
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- clones a minimal set of OOMWOO/Kaia.ai runtime repositories
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- optionally builds the workspace
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- installs the simulated MCU serial tool to `~/.local/bin`
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- writes a runtime environment snippet to `~/.bashrc`
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Run:
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```bash
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bash ubuntu/install_oomwoo_runtime_jazzy.sh
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```
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Use `--skip-build` when iterating on the script or testing package selection.
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## Measurement Plan
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After the runtime install works on a 4 GB board:
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1. Boot cleanly and record baseline memory after login.
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2. Source ROS2 and the runtime workspace.
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3. Start the simulated MCU serial tool.
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4. Launch the minimal OOMWOO runtime graph.
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5. Record RSS/PSS/CPU for idle.
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6. Run SLAM with 5 Hz LiDAR input and no scan dropping.
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7. Run navigation on a known map.
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8. Repeat after ROS2 composition/process-layout changes.
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9. Only then decide whether a C++ or Rust/rclrs port is justified.
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The related benchmark scaffold lives in:
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```text
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makerspet/oomwoo/contributions/compute-benchmark
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```
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## Path Toward 2 GB
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The 2 GB target should be treated as an optimization target, not an assumption.
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Suggested order:
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1. Remove development/simulation packages from the runtime image.
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2. Measure the Python/C++ baseline.
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3. Try ROS2 composition where supported.
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4. Reduce launch/process count.
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5. Remove unused web/telemetry/UI pieces from the onboard profile.
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6. Consider C++ ports for memory-heavy custom nodes.
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7. Consider Rust/rclrs ports only after the Jazzy setup is reproducible.
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## Future Branches
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The maintainer mentioned interest in Kilted, Lyrical, and Rolling branches. A
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good later contribution is to parameterize this script or create branch-specific
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variants once the Jazzy runtime profile is validated.

‎ubuntu/install_oomwoo_runtime_jazzy.sh‎

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#!/usr/bin/env bash
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set -euo pipefail
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WORKSPACE="${WORKSPACE:-$HOME/oomwoo_runtime_ws}"
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SKIP_BUILD=0
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INSTALL_SIM_SERIAL=1
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usage() {
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cat <<'EOF'
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Usage:
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install_oomwoo_runtime_jazzy.sh [options]
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Options:
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--workspace PATH Runtime workspace. Default: ~/oomwoo_runtime_ws
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--skip-build Clone/install packages but skip colcon build.
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--no-sim-serial Do not install the simulated MCU serial helper.
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--help Show this help.
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This script is a first Raspberry Pi 4/5 4GB runtime scaffold for OOMWOO. It
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installs ROS2 Jazzy runtime packages, avoids desktop/Gazebo tooling, prepares a
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minimal workspace, and installs a simulated CPU-MCU serial helper.
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EOF
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}
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while [[ $# -gt 0 ]]; do
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case "$1" in
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--workspace)
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WORKSPACE="${2:-}"
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shift 2
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;;
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--skip-build)
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SKIP_BUILD=1
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shift
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;;
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--no-sim-serial)
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INSTALL_SIM_SERIAL=0
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shift
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;;
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--help|-h)
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usage
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exit 0
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;;
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*)
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echo "Unknown argument: $1" >&2
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usage >&2
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exit 2
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;;
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esac
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done
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if [[ -z "$WORKSPACE" ]]; then
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echo "--workspace must not be empty" >&2
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exit 2
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fi
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require_ubuntu_2404() {
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if [[ ! -r /etc/os-release ]]; then
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echo "Cannot detect OS. This script currently targets Ubuntu 24.04." >&2
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exit 1
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fi
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. /etc/os-release
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if [[ "${ID:-}" != "ubuntu" || "${VERSION_ID:-}" != "24.04" ]]; then
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echo "Warning: expected Ubuntu 24.04 for ROS2 Jazzy, got ${PRETTY_NAME:-unknown}." >&2
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fi
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}
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install_ros_apt_source() {
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sudo apt update
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sudo apt install -y software-properties-common curl gnupg lsb-release
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sudo add-apt-repository universe -y
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sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
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-o /usr/share/keyrings/ros-archive-keyring.gpg
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo "$UBUNTU_CODENAME") main" \
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| sudo tee /etc/apt/sources.list.d/ros2.list >/dev/null
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}
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install_runtime_packages() {
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sudo apt update
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sudo apt install -y \
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build-essential \
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git \
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python3-colcon-common-extensions \
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python3-pip \
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python3-rosdep \
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python3-serial \
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python3-vcstool \
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ros-dev-tools \
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ros-jazzy-nav2-bringup \
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ros-jazzy-navigation2 \
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ros-jazzy-rmw-fastrtps-cpp \
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ros-jazzy-robot-localization \
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ros-jazzy-robot-state-publisher \
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ros-jazzy-ros-base \
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ros-jazzy-ros2-control \
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ros-jazzy-ros2-controllers \
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ros-jazzy-slam-toolbox \
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ros-jazzy-tf2-ros \
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ros-jazzy-xacro
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}
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init_rosdep_if_needed() {
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if [[ ! -f /etc/ros/rosdep/sources.list.d/20-default.list ]]; then
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sudo rosdep init
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fi
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rosdep update --rosdistro jazzy
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}
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clone_or_update() {
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local branch="$1"
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local url="$2"
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local path="$3"
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if [[ -d "$path/.git" ]]; then
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git -C "$path" fetch --depth 1 origin "$branch"
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git -C "$path" checkout "$branch"
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git -C "$path" reset --hard "origin/$branch"
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else
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git clone -b "$branch" --depth 1 "$url" "$path"
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fi
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}
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prepare_workspace() {
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mkdir -p "$WORKSPACE/src"
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clone_or_update jazzy https://github.com/kaiaai/kaiaai_msgs "$WORKSPACE/src/kaiaai_msgs"
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clone_or_update jazzy https://github.com/kaiaai/kaiaai "$WORKSPACE/src/kaiaai"
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clone_or_update jazzy https://github.com/kaiaai/kaiaai_bringup "$WORKSPACE/src/kaiaai_bringup"
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clone_or_update jazzy https://github.com/makerspet/makerspet_vac "$WORKSPACE/src/makerspet_vac"
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clone_or_update jazzy https://github.com/makerspet/makerspet "$WORKSPACE/src/makerspet"
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clone_or_update main https://github.com/makerspet/oomwoo-one "$WORKSPACE/src/oomwoo_one"
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clone_or_update jazzy https://github.com/remakeai/vacuum_ros2_bridge "$WORKSPACE/src/vacuum_ros2_bridge"
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clone_or_update jazzy https://github.com/kaiaai/nav2_wfe "$WORKSPACE/src/nav2_wfe"
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clone_or_update jazzy https://github.com/kaiaai/auto_mapper "$WORKSPACE/src/auto_mapper"
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clone_or_update jazzy https://github.com/kaiaai/m-explore-ros2 "$WORKSPACE/src/m-explore-ros2"
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}
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build_workspace() {
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. /opt/ros/jazzy/setup.bash
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cd "$WORKSPACE"
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rosdep install --from-paths src --ignore-src -y
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colcon build --symlink-install
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rm -rf log/
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}
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install_sim_serial() {
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if [[ "$INSTALL_SIM_SERIAL" -eq 0 ]]; then
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return
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fi
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local script_dir
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script_dir="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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mkdir -p "$HOME/.local/bin"
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install -m 0755 "$script_dir/tools/oomwoo_sim_mcu_serial.py" \
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"$HOME/.local/bin/oomwoo-sim-mcu-serial"
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}
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update_bashrc() {
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local marker="# OOMWOO runtime Jazzy"
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if grep -q "$marker" "$HOME/.bashrc" 2>/dev/null; then
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return
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fi
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cat >> "$HOME/.bashrc" <<EOF
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$marker
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source /opt/ros/jazzy/setup.bash
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if [ -f "$WORKSPACE/install/setup.bash" ]; then
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source "$WORKSPACE/install/setup.bash"
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fi
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export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
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export OOMWOO_MCU_SERIAL=/tmp/oomwoo-mcu-serial
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export PATH="\$HOME/.local/bin:\$PATH"
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EOF
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}
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main() {
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require_ubuntu_2404
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install_ros_apt_source
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install_runtime_packages
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init_rosdep_if_needed
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prepare_workspace
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install_sim_serial
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if [[ "$SKIP_BUILD" -eq 0 ]]; then
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build_workspace
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fi
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update_bashrc
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cat <<EOF
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OOMWOO Jazzy runtime scaffold installed.
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Workspace: $WORKSPACE
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Simulated MCU serial:
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oomwoo-sim-mcu-serial --link /tmp/oomwoo-mcu-serial
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Open a new shell or run:
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source ~/.bashrc
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EOF
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}
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main "$@"

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