Changelog

Version numbers match the App Store release. All repos (bridge, ESP32, docs) use the same tag on release.

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v0.1

Initial release.

App

• Sensor Bridge mode: publishes IMU, GPS, odometry, TF, camera (RGB + compressed + camera_info), LiDAR depth, and point cloud over Zenoh.
• Autonomous IDD mode: RTAB-Map SLAM, 2D occupancy grid, cost map, boustrophedon coverage clean, frontier-based exploration, pure-pursuit path following.
• Pickup detection: pauses SLAM when phone is lifted off the robot.
• Diagnostics: CPU, RAM, speed, and yaw rate published at 0.5 Hz.
• Config export / import / reset.
• Gamepad button topics (4 configurable buttons + stop).
• Remote commands via /command topic.

Bridge

• zenoh_foxglove_bridge.py: pure Python bridge from Zenoh to Foxglove WebSocket. No ROS2 required.
• Docker setup (iroslink-docker) using ros-jazzy-foxglove-bridge as an alternative.

ESP32 firmware

• Receives /cmd_vel and /suction_fan/speed over Zenoh via zenoh-pico.
• Publishes /battery/voltage every 10 s.
• mDNS router discovery with fallback to gateway and static IP.
• Boot button toggles fan for hardware testing.

Docs

• Getting started guide.
• ROS2 topic reference.
• Configuration key reference.
• Hardware wiring guide.
• ESP32 firmware setup.