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robonix.robot.deep_robotics.lite3

Minimal Robonix deployment for the Deep Robotics Lite3.

README

Deep Robotics Lite3

Minimal Robonix deployment for a Deep Robotics Lite3 with a Livox MID-360 and an Orbbec Gemini 330-series RGB-D camera.

The deployment contains only the robot packages needed for chassis control, sensing, mapping, and Nav2 navigation. Mapping uses the same syswonder/service-map-rbnx package as the Ranger Mini V3 deployment, with RTAB-Map selected as its backend.

Configure

Install Robonix and the ROS 2 dependencies required by the packages, then create the local credentials file:

cp .env.example .env
$EDITOR .env

.env is ignored by Git. Do not put VLM credentials in the manifest.

Deploy

./build.sh
./start.sh

Stop the deployment with:

./stop.sh

stop.sh is idempotent and also recovers interrupted boots: it reaps only processes and ProcessManager records belonging to this deployment, then checks that the Lite3 feedback port (UDP 43897) is free before returning success.

The three scripts accept additional arguments and pass them directly to the corresponding rbnx build, rbnx boot, or rbnx shutdown command.

Tencent speech also requires these values in the ignored .env file:

TENCENT_ASR_APPID=
TENCENTCLOUD_SECRET_ID=
TENCENTCLOUD_SECRET_KEY=

Robonix client

Start the robot deployment first, then run the client on the computer whose microphone and speaker should be used:

cd ~/cxk/robonix-client
source .venv/bin/activate
robonix-client --robot-host <lite3-jetson-ip>

Open http://127.0.0.1:7860, connect to Atlas on port 50051, and select audio_client_bridge for both input and output on the Audio page. The bridge uses port 60002 and should only be reachable over a trusted LAN or Tailscale.

Included packages

  • Lite3 quadruped chassis and robot description
  • Livox MID-360 lidar
  • Orbbec RGB-D camera
  • PointCloud2-to-LaserScan conversion
  • Mapping service with the RTAB-Map backend
  • Nav2 navigation

Soma loads soma.yaml and the deployment-local urdf/Lite3.urdf. Sensor mount transforms in that URDF should be updated after physical calibration.