robonix.robot.yobotics.y20w

robot v0.1.0

Robonix robot deployment with Livox LiDAR, RealSense camera, chassis control, navigation, speech and scene understanding.

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README robot-yobotics-y20w@main

Yobotics Y20W — Robonix Robot Deployment

Yobotics Y20W Robot

Robonix deployment repository for the Yobotics Y20W robot.

This repository provides a complete Robonix deployment configuration for the Y20W robot, integrating chassis control, Livox LiDAR, Intel RealSense RGB-D camera, navigation, speech interaction, and scene understanding.

Overview

The deployment integrates the Y20W robot with the Robonix runtime and exposes robot hardware and application capabilities through Robonix primitives, services, and skills.

Main capabilities include:

  • Y20W chassis motion and posture control
  • Livox MID-360 LiDAR
  • Intel RealSense D435i RGB-D camera
  • ROS 2 navigation and localization
  • Route-based navigation
  • Speech recognition and wake-word interaction
  • Vision-based scene understanding
  • Grayscale camera service
  • Robonix chassis control and navigation skills

Architecture

                         Robonix
                            │
        ┌───────────────────┼───────────────────┐
        │                   │                   │
    Primitives           Services             Skills
        │                   │                   │
        ├─ chassis_lcm       ├─ route_navigation
        ├─ mid360_lidar      ├─ speech_asr      ├─ chassis_control
        ├─ realsense_camera  ├─ grayscale       └─ navigate_to_endpoint
        ├─ audio_driver      └─ scene_understanding
        └─ ros2_robot_stack
        │
        ▼
 ┌──────────────────────────────────────────────┐
 │                Yobotics Y20W                 │
 │                                              │
 │  Chassis / LCM   Livox MID-360   D435i      │
 │       │                │           │         │
 │  NAV_CONTROL       PointCloud    RGB-D/IMU   │
 └──────────────────────────────────────────────┘

Repository Structure

.
├── robonix_manifest.yaml
├── soma.yaml
│
├── config/
│   └── navigation/
│       ├── config.yaml
│       └── goals.yaml
│
├── primitives/
│   ├── audio_driver/
│   ├── chassis_lcm/
│   ├── mid360_lidar/
│   ├── realsense_camera_rbnx/
│   └── ros2_robot_stack/
│
├── services/
│   ├── grayscale_service/
│   ├── route_navigation/
│   ├── scene_understanding/
│   └── speech_asr/
│
├── skills/
│   ├── chassis_control/
│   └── navigate_to_endpoint/
│
├── scripts/
└── urdf/

Robonix Components

Primitives

Component Description
chassis_lcm Converts Robonix chassis commands to Y20W LCM NAV_CONTROL commands
mid360_lidar Provides Livox MID-360 point cloud data
realsense_camera Provides RealSense D435i RGB, depth and IMU data
audio_driver Provides microphone and speaker interfaces
ros2_robot_stack Provides ROS 2 localization, LiDAR and navigation integration

Services

Component Description
route_navigation Executes navigation to predefined robot endpoints
speech_asr Speech recognition and wake-word service
grayscale_service Camera grayscale processing and visualization
scene_understanding Vision-language-model based scene understanding

Skills

Component Description
chassis_control Robot motion and posture control
navigate_to_endpoint Natural-language endpoint navigation

Chassis Integration

The Y20W chassis is connected to Robonix through the chassis_lcm primitive.

The control path is:

User / Robonix
      │
      ▼
chassis_control
      │
      ▼
chassis_lcm
      │
      ▼
LCM NAV_CONTROL
      │
      ▼
Y20W Robot Controller

The LCM message contains chassis velocity, angular velocity, and robot state commands.

Navigation

Navigation configuration is stored in:

config/navigation/
├── config.yaml
└── goals.yaml

The deployment uses the ROS 2 robot stack for localization and navigation and exposes route navigation through the Robonix route_navigation service and navigate_to_endpoint skill.

Configuration

The main deployment configuration is:

robonix_manifest.yaml

The deployment root should be provided through:

export ROBONIX_DEPLOY_DIR=/path/to/robot-yobotics-y20w

VLM credentials should be provided through environment variables and must not be committed to the repository:

export VLM_API_KEY="your-api-key"

Additional VLM settings can be configured through the deployment manifest.

Hardware

The current deployment is designed for:

  • Yobotics Y20W robot
  • Livox MID-360 LiDAR
  • Intel RealSense D435i RGB-D camera
  • USB microphone
  • USB/audio speaker
  • Robonix-compatible onboard computing platform

Hardware device names, network interfaces, ROS topics, and audio devices may need to be adjusted for the target robot.

Security

API keys and other credentials must not be committed to this repository.

Use environment variables or local ignored configuration files for sensitive information.

Build outputs, logs, caches, and local environment files are excluded through .gitignore.

License

Apache-2.0

Maintainer

chen xin chenxin10112022@126.com