Cerulion

An interface for your robots that can [visualize] [plot] [debug] [control].
Cross-platform. Low-latency. ROS-compatible.
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Table of Contents

1. About The Project
   • Built With
2. Getting Started
   • Prerequisites
   • Installation
3. Usage
4. Roadmap
5. Contributing
6. License
7. Contact

About The Project

Cerulion is your all-in-one, cross-platform solution for visualizing, debugging, plotting, logging, and controlling your robot. Whether you're working on a Mac, Windows PC, or a Linux workstation, Cerulion frees you from platform constraints, enabling seamless robot interfacing across all major systems.

Designed with flexibility and ease of use in mind, Cerulion provides a unified interface for developers to start debugging and visualizing their robots right away. With built-in low-latency communication and full compatibility with ROS, Cerulion ensures that your robot operations are smooth, efficient, and ready for the demands of modern robotics.

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Getting Started

Drivers will need to be installed on your robot platform, but for the interface frontend, binaries can be run immediately for MacOS, Windows, and Linux operating systems.

Installation

On your computer

Download the application executable from Releases for your operating system.

On your robot

Currently, we use LCM (Lightweight Communications and Marshaling) for our backend. Very soon, we will also offer IceOryx (intra-machine IPC) + Zenoh (inter-machine network communications) for bleeding edge improvements in latency using Rust.

You can start using LCM with Python on your robot right away after a simple pip install lcm. However, if you want to use ROS2 with LCM, we are developing a bridge to make this easier. Your best option for now is to use this bidirectional message subscriber/republisher.

If you just want to test without deploying on a robot, see Usage

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Usage

Loading your robot

load_robot.mp4

For more examples, please refer to the Documentation

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Built With

Godot Engine

IceOryx2

Zenoh

LCM

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Roadmap

• Release v0.1
• Simplify LCM-ROS2 integration
• Add ZenOryx backend (Zenoh + IceOryx/IceOryx2)
• Dynamic content panels
• Basic simulation capabilities
• Basic controllers

See the open issues for a full list of proposed features (and known issues).

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Contributing

Contributions are what make the open source community such an amazing place to learn, inspire, and create. Any contributions you make are greatly appreciated.

If you have a suggestion that would make this better, please fork the repo and create a pull request. You can also simply open an issue with the tag "enhancement".

1. Fork the Project
2. Create your Feature Branch (git checkout -b feature/AmazingFeature)
3. Commit your Changes (git commit -m 'Add some AmazingFeature')
4. Push to the Branch (git push origin feature/AmazingFeature)
5. Open a Pull Request

Top contributors:

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License

Distributed under the GPLv3 License. See LICENSE.txt for more information.

Cerulion is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. Cerulion is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with Cerulion. If not, see https://www.gnu.org/licenses/.

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Contact

Lakshay Sharma - lakshay@cerulion.com

Se Hwan Jeon - sehwan@cerulion.com

Project Link: https://github.com/cerulion-inc/cerulion

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