Auki Padbot W3

Demonstrating posemesh domain map deployment and REST-based navigation on Padbot W3 robots

Overview

This project demonstrates how to integrate and deploy posemesh domain maps on the Padbot W3 robot. The system provides a complete solution for autonomous robot navigation using spatial domain data, enabling the W3 to understand its environment and navigate intelligently within defined domains using REST APIs.

Key Features

🤖 Robot Integration

• Padbot W3 Support: Full compatibility with the W3 robot model
• SLAM Integration (REST API): Real-time Simultaneous Localization and Mapping via REST
• Autonomous Navigation: Intelligent pathfinding using domain maps
• Pose Tracking: Continuous robot position and orientation monitoring

🗺️ Posemesh Domain Integration

• Domain Authentication: Secure access to posemesh spatial domains
• Map Download: Automatic retrieval of domain-specific maps (STCM format)
• Navmesh Generation: Dynamic navigation mesh creation for pathfinding
• Raycast Support: Spatial querying for obstacle detection and avoidance

📱 React Native GUI

• Cross-Platform: Android and iOS support
• Real-time Monitoring: Live robot status and battery monitoring
• Configuration Management: Easy setup and credential management
• Connection Status: Visual feedback for robot and domain connectivity

🔧 Advanced Features

• Home Dock Management: Automatic home position setting and navigation
• Patrol Points: Configurable waypoint-based navigation
• Battery Monitoring: Real-time battery status tracking
• Logging System: Comprehensive debug and error logging

Architecture

┌─────────────────┐    ┌──────────────────┐    ┌─────────────────┐
│   React Native  │    │   REST API       │    │   Padbot W3     │
│      GUI        │◄──►│   Integration    │◄──►│   Robot         │
└─────────────────┘    └──────────────────┘    └─────────────────┘
         │                       │                       │
         ▼                       ▼                       ▼
┌─────────────────┐    ┌──────────────────┐    ┌─────────────────┐
│   Domain Utils  │    │   SLAM Utils     │    │   Hardware      │
│   (Posemesh)    │    │   (REST)         │    │   (W3)          │
└─────────────────┘    └──────────────────┘    └─────────────────┘
         │                       │
         ▼                       ▼
┌─────────────────┐    ┌──────────────────┐
│   Posemesh API  │    │   Domain Maps    │
│   (Auth         │    │   (STCM Format)  │
│    & Maps)      │    │                  │
└─────────────────┘    └──────────────────┘

Prerequisites

Hardware Requirements

• Padbot W3 robot
• Android device or emulator for GUI
• Network connectivity for domain access

Software Requirements

• Node.js (>= 18)
• React Native CLI
• Android Studio (for Android development)
• Java Development Kit (JDK)
• Posemesh Account with domain access

Dependencies

• React Native 0.78.0
• React 19.0.0

Installation & Setup

1. Clone the Repository

git clone <repository-url>
cd auki_padbot_w3

2. Install Dependencies

cd RobotGUI
npm install

3. Android Setup

# Navigate to Android directory
cd android

# Install Gradle dependencies
./gradlew clean
./gradlew build

4. Configuration

Edit RobotGUI/android/app/src/auki_padbot_w3/assets/config.yaml:

# Default configuration
email: "your-email@example.com"
domain_id: "your-domain-id"
slam_ip: "127.0.0.1"  # W3 Robot IP address
slam_port: 1448
timeout_ms: 1000

domain:
  map_endpoint: "https://dsc.auki.network/spatial/crosssection"
  raycast_endpoint: "https://dsc.auki.network/spatial/raycast"
  navmesh_endpoint: "https://dsc.auki.network/spatial/restricttonavmesh"

5. Build and Run

# Start Metro bundler
npm start

# Run on Android device/emulator
npm run android

Usage

Initial Setup

1. Launch the App: Start the React Native application
2. Configure Credentials: Enter your posemesh email, password, and domain ID
3. Test Connection: Verify robot and domain connectivity
4. Set Home Position: Configure the robot's home dock location

Robot Control

• Connect: Establish connection with the Padbot W3 robot
• Download Map: Retrieve domain-specific spatial map
• Set Pose: Initialize robot position and orientation
• Navigate: Execute autonomous navigation commands

Domain Integration

• Authentication: Secure access to posemesh domains
• Map Retrieval: Download STCM format domain maps
• Navmesh Generation: Create navigation meshes for pathfinding
• Pose Reporting: Continuous position updates to domain

Further information can be found at https://github.com/aukilabs/auki_robotics_map_utils

API Reference

Domain Utils Module

// Authentication
authenticate(email: string, password: string, domainId: string): Promise<AuthResult>

// Map Operations
downloadMap(): Promise<MapResult>
getNavmeshCoord(coordinates: CoordMap): Promise<NavmeshResult>

// Pose Management
writeRobotPose(poseData: string, method: string, dataId?: string): Promise<PoseResult>

SLAM Utils Module (REST)

// Connection Management
checkConnection(): Promise<ConnectionStatus>
connectToRobot(ip: string, port: number): Promise<ConnectionResult>

// Navigation
navigateHome(x: number, y: number, yaw: number): Promise<NavigationResult>
setHomeDock(x: number, y: number, z: number, yaw: number, pitch: number, roll: number): Promise<HomeDockResult>

Configuration Options

Robot Settings

• IP Address: Robot network address (default: 127.0.0.1)
• Port: SLAM service port (default: 1448)
• Timeout: Connection timeout in milliseconds

Domain Settings

• Map Endpoint: Domain map download URL
• Raycast Endpoint: Spatial query service URL
• Navmesh Endpoint: Navigation mesh generation URL

Navigation Settings

• Patrol Points: Configurable waypoint coordinates
• Speed Settings: Different speeds for various operations
• Home Dock: Robot charging station position

Troubleshooting

Common Issues

Connection Problems

# Check robot network connectivity
ping 127.0.0.1

# Verify SLAM service is running
telnet 127.0.0.1 1448

Authentication Errors

• Verify posemesh credentials
• Check domain ID validity
• Ensure network connectivity to posemesh services

Build Issues

# Clean and rebuild
cd android
./gradlew clean
./gradlew build

# Clear React Native cache
npx react-native start --reset-cache

Debug Logging

Enable debug logging by checking the logs in:

• debug_log.txt - General application logs
• logcat.txt - Android system logs

Development

Project Structure

auki_padbot_w3/
└── RobotGUI/                  # React Native application
    ├── android/               # Android-specific code and native modules
    ├── src/
    │   ├── auki_padbot_w3/
    │   │   ├── assets/        # Images, config, and static files
    │   │   ├── components/    # Reusable UI components
    │   │   ├── screens/       # Application screens
    │   │   ├── utils/         # Utility functions
    │   │   └── app/           # App entry point
    │   └── ...
    ├── package.json
    └── ...

Adding New Features

1. Native Modules: Add Android/Kotlin modules in android/app/src/main/java/
2. React Components: Create new components in src/auki_padbot_w3/components/
3. Screens: Add new screens in src/auki_padbot_w3/screens/
4. Configuration: Update config.yaml for new settings

Contributing

1. Fork the repository
2. Create a feature branch
3. Make your changes
4. Add tests if applicable
5. Submit a pull request

License

This project is licensed under the MIT License - see the LICENSE file for details.

Support

For technical support or questions:

• Email: robotics@aukilabs.com
• Issues: Report bugs and feature requests through the project repository

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