robomaster-wander

name	robomaster-wander
description	Advanced autonomous patrol for RoboMaster EP/S1. Features hybrid motion engine, visual obstacle guard, and LED feedback.
metadata	{"openclaw":{"emoji":"🤖","tags":["robotics","autonomous","python","sdk","robomaster"]}}

RoboMaster Wander (SDK Version)

This skill turns RoboMaster EP/S1 into a dog-like autonomous wanderer: it explores, avoids obstacles, occasionally plays audio, and uses LEDs for state feedback.

By default it runs the persona controller (multi-track behavior: locomotion / head / overlay), built on top of the DJI RoboMaster SDK (IR + Vision).

Key Features

🧠 Intelligent Navigation

• Persona Locomotion: Uses arc-like motion for a more natural feel, but prefers straight motion when the path ahead is wide open.
• Unstick: When stuck, performs a combined arc-reverse / arc-forward / turn sequence.
• Scan Sound Rate Limit: Scanning sound is rate-limited to avoid spamming.

👁️ Advanced Perception

• Visual Obstacle Guard: Uses onboard camera and edge detection to identify "thin" obstacles (like table legs) that the IR sensor might miss.
• Anti-Lag System: Synchronizes sensor readings with motion timestamps to ensure decisions are based on fresh data.
• Blind-Spot Protection: Automatically stops if sensor data is lost or stale.

💡 Interactive Feedback

• LED Communication:
  • 🟢 Green (Solid/Breath): Cruising normally.
  • 🔵 Blue (Flash): Scanning for a path.
  • 🟡 Yellow (Solid): Turning to new direction.
  • 🔴 Red (Flash): Emergency brake / Obstacle detected.
  • 🟣 Purple (Flash): Armor hit detected (Panic mode).
• Heartbeat Refresh: Ensures LED state remains consistent even with packet loss.
• Audio/Voice Overlay: Plays system sounds and custom wav (e.g. the dog SFX pack), and emits a short “bark/yelp” style cue during unstick.

🛡️ Robustness

• Auto-Reconnect: Automatically detects Wi-Fi disconnection and attempts to reconnect without user intervention.
• Self-Calibration: Forces gimbal pitch calibration on startup to prevent sensor misalignment.

Usage

# Run persona mode (default)
python3 robomaster_wander/robomaster_wander.py --conn sta

# Run with verbose debug logs (See sensor data & decisions)
python3 robomaster_wander/robomaster_wander.py --conn sta -v

# Disable blaster usage in persona mode
python3 robomaster_wander/robomaster_wander.py --conn sta --disable-fire

# Run legacy state machine controller
python3 robomaster_wander/robomaster_wander.py --conn sta --legacy

# Run minimal behavior tree controller
python3 robomaster_wander/robomaster_wander.py --conn sta --bt

# Stop the robot immediately
python3 robomaster_wander/robomaster_wander.py --stop --conn sta

# Upload and play a wav file (mono 48kHz). If no path, plays a generated beep.
python3 robomaster_wander/robomaster_wander.py --audio-test

Arguments

• --conn: Connection type (sta by default, ap, rndis).
• -v, --verbose: Enable detailed SDK and logic logs.
• --stop: Send a stop command to a running instance.
• --enable-fire / --disable-fire: Enable/disable blaster usage in persona mode.
• --legacy: Run the legacy controller.
• --bt: Run the minimal behavior tree controller.
• --persona: Run persona controller (default).
• --audio-test [path]: Upload and play a wav file; if no path, plays a generated beep.
• --viz: Enable matplotlib visualization.
• --camera-stream / --no-camera-stream: Force enable/disable camera stream.

Audio Assets

• Custom audio uses RoboMaster play_audio (uploads to the robot then plays).
• Format requirements: mono / 48kHz / wav
• Default dog SFX pack directory: robomaster_wander/assets/audio/oga_cc0_creature_sfx_wav
  • Refresh / generate via: python3 robomaster_wander/tools/refresh_audio_assets.py