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 +1,131 @@
-# 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
+
+Robonix follows the EAIOS architecture with four core components:
+
+- **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
+
+## Quick Start
+
+### Prerequisites
+
+- ROS2 Humble: https://docs.ros.org/en/humble/Installation.html
+- Rust (stable): https://rustup.rs/
+
+### Using Docker (Recommended)
+
+The easiest way to get started is using the pre-built Docker image:
+
+```bash
+cd docker
+./run.sh  # Pulls and runs docker.io/enkerewpo/robonix_ros:latest
+```
+
+Or build locally:
 
 ```bash
-git clone --recurse-submodules https://github.com/syswonder/robonix.git
+cd docker
+./run.sh -b  # Builds and runs local image
 ```
 
-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)
+### Manual Setup
 
-## Startup
+1. **Build robonix-cli**:
 
 ```bash
-cd robonix
-python3 ./manager/boot.py --config {YOUR_BOOT_CONFIG}
+cd rust/robonix-cli
+cargo build
 ```
 
-Please see examples configs in `config/include`.
+2. **Setup packages directory**:
 
-## Action Programming and Simulation
+```bash
+mkdir -p ~/.robonix
+rm -rf ~/.robonix/packages
+ln -s "$(realpath ../provider/)" ~/.robonix/packages
+export FASTRTPS_DEFAULT_PROFILES_FILE=
+```
+
+3. **Build robonix-sdk**:
+
+```bash
+cd rust/robonix-sdk
+./build_ros2.sh
+```
 
-for user action programming and simulation, you need to install the following packages:
+4. **Start robonix-core** (in a separate terminal):
 
 ```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
+cd rust/robonix-core
+cargo run --
 ```
 
-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.
+robonix-core provides the following EAIOS API services:
+- **Primitive API** (`/rbnx/prm/*`): Primitive registration and query
+- **Service API** (`/rbnx/srv/*`): Standard service registration and query
+- **Skill API** (`/rbnx/skl/*`): Skill registration and query
+- **Task API** (`/rbnx/task/*`): Task submission, status query, and result retrieval
+
+5. **Configure robonix-cli**:
+
+```bash
+cd rust/robonix-cli
+cargo run -- config --set-sdk-path ../robonix-sdk
+cargo run -- config -s
+```
+
+## Install and Register Packages
+
+### Install Packages
+
+```bash
+cd rust/robonix-cli
+
+# Install package from GitHub
+cargo run -- package install --github https://github.com/enkerewpo/demo-package-01-robonix
+cargo run -- package list
+
+# Build all packages
+cargo run -- package build all
+```
+
+### Register Packages
+
+Use recipe files to register primitives, services, and skills:
+
+```bash
+cd rust/robonix-cli
+
+# Register recipe
+cargo run -- deploy register demo_recipe.yaml
+
+# Start all registered packages
+cargo run -- deploy start
+
+# View status
+cargo run -- deploy status
+```
+
+## Create and Execute Tasks
+
+### Create Task
+
+```bash
+cd rust/robonix-cli
+
+# Create task from natural language
+cargo run -- task create "Pick up the red box on the table"
+
+# View task details
+cargo run -- task get task_0
+```
+
+## License
+
+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