Roomba RPi

The Roomba RPi project integrates a Raspberry Pi Zero 2W running Linux (arm64) and ROS2 into an iRobot Roomba 690 to upgrade its autonomous capabilities while maintaining its original exterior. The Raspberry Pi communicates directly with the Roomba's internal serial interface using an Adafruit CP2104 USB serial board connected via a custom mini-DIN 7 connector, allowing the microcomputer to send motion commands and read internal telemetry. For spatial awareness and navigation, a BNO055 inertial measurement unit (IMU) interfaces with the system to provide accurate orientation and heading data. A DS3231 real-time clock (RTC) board is included to maintain precise timekeeping, which is critical for logging sensor data and executing scheduled tasks without relying on an active internet connection. The system is powered and physically assembled using hardware like #2-56 machine screws and nylon spacers for secure mounting inside the chassis. Control inputs are handled wirelessly through a connected DualShock 4 Controller, passing commands through the Bluetooth stack to the ROS2 middleware framework. Software execution relies on Python and the Adafruit CircuitPython BNO055 driver, translating high-level ROS2 navigation nodes into low-level serial actuation commands that drive the robotic vacuum.