Re-imagining toilet hygiene with an autonomous quadruped cleaning robot.
Waiting for your contribution!! Proudly Desined by @sabamiso-rrsc https://x.com/sabamiso_RRSC https://github.com/sabamiso-rrsc
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Maintaining public or commercial restrooms is expensive, repetitive, and—let’s be honest—unpleasant.
CleanK turns that chore into a closed-loop, data-driven process:
| Layer | Goal | Key tech |
|---|---|---|
| Machine Design | Modular cleaning head + quadruped base | CAD / BOM (Fusion 360, Meviy sheet-metal & resin) |
| Circuit Design | Low-noise, IP-rated power & I/O | Custom carrier for off-the-shelf SBC |
| Embedded FW | Real-time safety & actuator control | STM32 + FreeRTOS |
| Robot Control | Locomotion, manipulation, autonomy | ROS 2 Humble, Navigation 2, MoveIt 2, Gazebo-Sim |
| Data & AI | Dirt classification / RL policy | CV model + RL fine-tuning on collected soiling dataset |
| Milestone | Target | Status |
|---|---|---|
| Prototype-0 (proof) | Apr 2025 | ✅ completed |
| CAD + BOM freeze | May 2025 | 🔄 in progress |
| Base arrival & E-board spin #1 | Jul 2025 | ⏳ pending |
| Sim stack (Nav2 + MoveIt 2) | Oct 2025 | |
| ROS2 bridge to embedded FW | Feb 2026 | |
| RL on real hardware | Apr 2026 |
Want to help? Scroll to Contributing 👇
Until the physical hardware ships, you can play in Gazebo:
# 1. Clone
git clone https://github.com/deBroglieeeen/CleanK.git
cd CleanK
# 2. Install ROS 2 Humble & dependencies
sudo apt install -y python3-colcon-common-extensions ros-humble-desktop-full
rosdep install -r --from-paths src --ignore-src -y
# 3. Build
colcon build --symlink-install
source install/setup.bash
# 4. Launch sim
ros2 launch cleank_bringup gazebo.launch.py
Requires Ubuntu 22.04 + nvidia-driver 535+ for hardware-accelerated Gazebo rendering.
📂 Repository layout
bash
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CleanK/
├── bringup/ # Robot launch files (ROS 2)
├── description/ # URDF + meshes for quadruped & cleaning head
├── docker/ # Dev-container & CI images
├── firmware/ # STM32 project (CubeIDE) – coming soon
├── hardware/ # STEP, STL, DXF exports – coming soon
├── scripts/ # One-shot dev utilities
└── tests/ # Pytest & Gazebo regression tests
(Folders marked coming soon will appear once the first CAD drop and PCB spin are published.)
🖥️ Development environment
Tool Version Notes
Ubuntu 22.04 (Jammy) Primary dev OS
ROS 2 Humble Hawksbill Foxy & Iron Irwin CI builds planned
Gazebo Fortress Classic support until Ignition migration
MoveIt 2.5+ Manipulation planning
STM32CubeIDE 1.15 Firmware
Fusion 360 2.0.* Mechanical design
A reproducible Docker dev-container lives in docker/.
🧪 Testing
bash
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colcon test --event-handlers console_direct+
# Hardware-in-the-loop tests (once robot arrives)
ros2 launch cleank_bringup hw_test.launch.py test:=wiper_force
CI will run unit tests + Linters (ament_lint, clang-tidy).
HIL jobs trigger on hardware/* tagged PRs.
🙌 Contributing
Fork the repo & create a feature branch.
Follow CONTRIBUTING.md (code-style, commit message convention).
Open a PR; one of the maintainers will review within 72 h.
Looking for help with:
Control theory (quadruped locomotion tuning)
ROS 2 behavior-tree authoring
Hardware integration & force-feedback cleaning head
Computer-vision dataset labelling
📜 License
Released under the MIT License—see LICENSE.
If you use CleanK in academic work, please cite this repository.
🗣 Contact / Support
Issues → GitHub issue tracker
Slack → invite link coming soon
Email → cleanK [at] example.com
Stay updated by starring ⭐ the repo and watching for releases.
<sub>© 2025 CleanK Project — Built with ❤️ and a mild obsession for sparkling tile floors.</sub>