feat: add rust robonix according to EAIOS whitepaper

.gitignore

@@ -1,36 +1,24 @@
 __pycache__/
 *.py[cod]
 *$py.class
-
-# ros2
 log/
 build/
 install/
-
-# additions
 temp/
 .vscode/
-
-#log
 log.txt
-
 .DS_Store
-
 .cursor/
 .cursorrules
 *.pt
 .env
-
 test.txt
 path.sh
 scene_info.json
-
 frames_*
-
-# skill export
 __export__.py
 skill/__init__.py
-
 *.log
-
-tmp/
+tmp/
+tailscale/
+target

.gitmodules

@@ -10,3 +10,12 @@
 [submodule "robonix/driver/ranger_ros2/src/ugv_sdk"]
 	path = robonix/driver/ranger_ros2/src/ugv_sdk
 	url = https://github.com/enkerewpo/ugv_sdk.git
+[submodule "ros2-client"]
+	path = rust/lib/ros2-client
+	url = https://github.com/enkerewpo/ros2-client
+[submodule "rcl_interfaces"]
+	path = rust/lib/rcl_interfaces
+	url = https://github.com/enkerewpo/rcl_interfaces
+[submodule "common_interfaces"]
+	path = rust/lib/common_interfaces
+	url = https://github.com/enkerewpo/common_interfaces

README.md

@@ -1,36 +1,20 @@
-# robonix
-<div align="center">
-  <img src="robonix.png" alt="robonix" width="200">
-</div>
+# Robonix
 
-**robonix** is an open-source embodied intelligence framework.
+**Robonix** is an open-source embodied intelligence framework built with Rust and ROS2, implementing the EAIOS (Embodied AI Operating System) architecture.
 
-## Setup
+## Architecture
 
-```bash
-git clone --recurse-submodules https://github.com/syswonder/robonix.git
-```
+Robonix follows the EAIOS architecture with four core components:
 
-1. install ROS2 humble: https://docs.ros.org/en/humble/Installation.html
-2. build your driver and capability ROS2 node (enter the folder and run build.sh or colcon build)
+- **Task Manager**: Global scheduling and control core, responsible for task parsing, planning, and execution coordination
+- **Skill Library**: Stores reusable skills that can be called at runtime
+- **Service Registry**: Manages standardized algorithm capabilities (perception, planning, evaluation, verification)
+- **Primitive Abstraction Layer**: Provides standardized hardware capability mapping, managing access to actuators and sensors
 
-## Startup
+## Quick Start
 
-```bash
-cd robonix
-python3 ./manager/boot.py --config {YOUR_BOOT_CONFIG}
-```
+See [robonix quickstart](rust/README.md)
 
-Please see examples configs in `config/include`.
+## License
 
-## Action Programming and Simulation
-
-for user action programming and simulation, you need to install the following packages:
-
-```bash
-pip install rich loguru mcp pyyaml argparse # basic packages for uapi and manager
-pip install grpcio grpcio-tools genesis-world pynput # if you want to use genesis simulator
-pip install openai  python-dotenv # for LLM-generated action
-```
-
-run `python3 ./simulator/genesis/robot1.py` to start the genesis simulator, then run example python scripts in `./simulator/examples` to run the abstract action program.
+See LICENSE file for details.

config/include/nvidia_server.yml

@@ -0,0 +1,5 @@
+driver:
+capability:
+skill:
+  - spatial
+brain:

config/include/ranger_test.yml

@@ -17,7 +17,8 @@ skill:
   - vision
   - semantic_map
   - test_skill
-  - pointcloud
+  - spatial
+  - asr
 brain:
   - test_brian
 

docker/Dockerfile

@@ -0,0 +1,77 @@
+FROM osrf/ros:humble-desktop
+
+ENV ROS_DOMAIN_ID=0
+ENV ROS_LOCALHOST_ONLY=0
+# ENV FASTRTPS_DEFAULT_PROFILES_FILE=/root/shared/fast.xml
+# ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+
+# RUN apt-get update && apt-get install -y \
+#     ca-certificates \
+#     wget gnupg && \
+#     wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/cuda-keyring_1.1-1_all.deb && \
+#     dpkg -i cuda-keyring_1.1-1_all.deb && \
+#     apt-get update && \
+#     apt-get install -y cuda-toolkit-12-4 && \
+#     rm cuda-keyring_1.1-1_all.deb
+
+# RUN wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh && \
+#     bash Miniconda3-latest-Linux-x86_64.sh -b -p /opt/miniconda3 && \
+#     rm Miniconda3-latest-Linux-x86_64.sh
+
+RUN apt update && apt install -y \
+    ros-humble-rmw-fastrtps-cpp \
+    python3-pip \
+    python3-dev \
+    build-essential \
+    git \
+    wget \
+    libeigen3-dev \
+    libgl1-mesa-glx \
+    libglib2.0-0 \
+    libsm6 \
+    libxext6 \
+    libxrender-dev \
+    bzip2 \
+    libosmesa6 \
+    libglu1-mesa \
+    libglfw3 \
+    libglfw3-dev \
+    mesa-utils \
+    libclang-dev python3-vcstool
+
+# RUN apt update && apt install -y curl && \
+# curl -fsSL https://pkgs.tailscale.com/stable/ubuntu/focal.noarmor.gpg | tee /usr/share/keyrings/tailscale-archive-keyring.gpg >/dev/null && \
+# curl -fsSL https://pkgs.tailscale.com/stable/ubuntu/focal.tailscale-keyring.list | tee /etc/apt/sources.list.d/tailscale.list && \
+# apt update && \
+# apt install -y tailscale && \
+# pip3 install --upgrade pip
+
+# ENV PATH=/opt/miniconda3/bin:$PATH
+
+# RUN conda tos accept || true && \
+#     conda create -n env1 python=3.10 -y && \
+#     conda clean -ya
+
+# RUN conda config --set solver classic && \
+#     conda config --set channel_priority flexible
+
+# install some basic packages in the env1 conda env
+# RUN conda run -n env1 pip install intel-openmp && \
+#     conda run -n env1 pip install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu124
+
+# RUN conda run -n env1 pip install git+https://github.com/colcon/colcon-cargo.git && \
+#     conda run -n env1 pip install git+https://github.com/colcon/colcon-ros-cargo.git
+
+# CUDA 12.4 toolkit installs to /usr/local/cuda by default
+# Also set up version-specific paths for compatibility
+# ENV CUDA_HOME=/usr/local/cuda
+# ENV CUDA_PATH=/usr/local/cuda
+# ENV PATH=/usr/local/cuda/bin:$PATH
+# RUN echo 'export LD_LIBRARY_PATH=/usr/local/cuda/lib64:/usr/local/cuda/compat:${LD_LIBRARY_PATH:-}' >> ~/.bashrc
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=compute,utility
+
+# install rust
+RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y
+
+WORKDIR /root/workspace

docker/README.md

@@ -0,0 +1,100 @@
+# Docker Setup for Robonix
+
+This directory contains Docker configuration files for building and running Robonix in a containerized environment.
+
+## Files
+
+- `Dockerfile`: Docker image definition based on ROS2 Humble
+- `run.sh`: Script to build and run the Docker container locally
+- `upload.sh`: Script to build and upload Docker image to cloud registry
+- `docker-entrypoint.sh`: Container entrypoint script
+
+## Local Usage
+
+### Build and Run Container
+
+```bash
+cd docker
+./run.sh          # Run container (builds if needed)
+./run.sh -b       # Force rebuild image
+./run.sh -d       # Delete existing container
+```
+
+### Environment Variables
+
+Create a `.env` file in the `docker/` directory to set custom variables:
+
+```bash
+# Optional: Custom image name
+DOCKER_IMAGE_NAME=robonix_ros
+
+# Optional: Custom registry
+DOCKER_REGISTRY=ghcr.io/username
+
+# Optional: Custom tag
+DOCKER_TAG=latest
+
+# Optional: Disable push (default: true)
+DOCKER_PUSH=false
+
+# Optional: Docker credentials (for upload.sh)
+DOCKER_USERNAME=your_username
+DOCKER_PASSWORD=your_token_or_password
+```
+
+## Upload to Cloud Registry
+
+### Docker Hub (Default)
+
+```bash
+cd docker
+
+# Set credentials (or use .env file)
+export DOCKER_USERNAME=your_dockerhub_username
+export DOCKER_PASSWORD=your_dockerhub_password
+
+# Upload with default settings (uses docker.io)
+./upload.sh docker.io/username/robonix_ros latest
+
+# Or use environment variables
+export DOCKER_REGISTRY=docker.io/username/robonix_ros
+export DOCKER_TAG=v1.0.0
+./upload.sh
+```
+
+### Using .env File
+
+1. Copy the template file:
+```bash
+cd docker
+cp dotenv.template .env
+```
+
+2. Edit `.env` and fill in your values:
+
+```bash
+# For Docker Hub (default)
+DOCKER_REGISTRY=docker.io/your_dockerhub_username/robonix_ros
+DOCKER_TAG=latest
+DOCKER_USERNAME=your_dockerhub_username
+DOCKER_PASSWORD=your_dockerhub_password_or_token
+DOCKER_PUSH=true
+```
+
+**Important Notes:**
+For Docker Hub: Use your Docker Hub username and password (or access token). Create access token at: https://hub.docker.com/settings/security.
+
+3. Run the upload script:
+```bash
+./upload.sh
+```
+
+The script will automatically use values from `.env` if no command-line arguments are provided.
+
+## Notes
+
+- The Docker image includes ROS2 Humble, Rust, and all necessary dependencies
+- GPU support is enabled if NVIDIA drivers are available on the host
+- The container uses host networking for ROS2 communication
+- X11 forwarding is set up for GUI applications
+

docker/docker-entrypoint.sh

@@ -0,0 +1,22 @@
+#!/bin/bash
+set -e
+
+mkdir -p /tmp/runtime-root
+chmod 700 /tmp/runtime-root
+export XDG_RUNTIME_DIR=/tmp/runtime-root
+
+# Set up OSMesa for headless OpenGL rendering
+export LD_LIBRARY_PATH=/usr/lib/x86_64-linux-gnu/osmesa:${LD_LIBRARY_PATH}
+export OSMESA_LIB=/usr/lib/x86_64-linux-gnu/libOSMesa.so
+
+# some post apt install
+apt install -qq -y iputils-ping screenfetch >/dev/null 2>&1
+
+# source the setup.bash
+source /opt/ros/humble/setup.bash
+
+echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
+
+echo -e "[*] \033[1mWelcome to robonix docker environment!\033[0m Distro is: \033[33m$(lsb_release -ds 2>/dev/null || echo "Linux")\033[0m with ROS2 \033[33m$(echo $ROS_DISTRO)\033[0m"
+exec bash
+

docker/dotenv.template

@@ -0,0 +1,49 @@
+# Docker Upload Configuration
+# Copy this file to .env and fill in your values
+# cp dotenv.template .env
+
+# ============================================
+# Registry Configuration
+# ============================================
+
+# Full registry path (recommended)
+# For Docker Hub (default):
+DOCKER_REGISTRY=docker.io/your_dockerhub_username/robonix_ros
+
+# For GitHub Container Registry:
+# DOCKER_REGISTRY=ghcr.io/your_github_username/robonix_ros
+
+# Or just registry (will use default image name)
+# DOCKER_REGISTRY=docker.io
+# DOCKER_IMAGE_NAME=robonix_ros
+
+# Image tag (default: latest)
+DOCKER_TAG=latest
+
+# ============================================
+# Authentication
+# ============================================
+
+# Your Docker Hub username
+DOCKER_USERNAME=your_dockerhub_username
+
+# Your Docker Hub password or access token
+# You can use your account password or create an access token at:
+# https://hub.docker.com/settings/security
+DOCKER_PASSWORD=your_dockerhub_password_or_token
+
+# ============================================
+# Upload Options
+# ============================================
+
+# Whether to push image to registry (default: true)
+# Set to false to only build locally without pushing
+DOCKER_PUSH=true
+
+# ============================================
+# Other Configuration (if needed)
+# ============================================
+
+# Tailscale auth key (if using Tailscale)
+# DOCKERKEY_PERM=PASTE_YOUR_TAILSCALE_AUTH_KEY_HERE
+