// the find
Sollimann/CleanIt
Open-source Autonomy Software in Rust-lang using gRPC for the Roomba series robot vacuum cleaners. Under development.
CleanIt is a Rust implementation of autonomy software for the iRobot Create 2/Roomba 6xx series, using async gRPC for the client-server communication between a Raspberry Pi and remote compute. It's aimed at robotics hobbyists who want to build real motion planning and SLAM pipelines on a cheap hardware platform rather than relying on ROS middleware.
The workspace structure is sensible — drivers, autonomy, API, and proto as separate crates with clear responsibilities. The async gRPC streaming architecture is a legitimate choice for real-time sensor data, not just architectural decoration. The iRobot Create 2 serial driver includes actual packet decoding against the Open Interface spec, not just a thin wrapper. The autonomy crate has real integration tests covering odometry and matrix math, which matters for correctness in navigation code.
SLAM is openly unfinished and lives in a separate repo that is itself a work-in-progress — so the headline feature isn't actually here. The macOS setup section is literally `brew install *TODO*`, which signals the project has only ever been run on Linux. The visualization crate exists in the directory tree but the source contains only `main.rs` with no substance. Last push was late 2025 and the project backlog linked in the README points to GitHub Projects, which is usually a graveyard for solo hobby projects.