roboclaw-rs

Rust • ROS 2 • Skills • LLM • Sim-first

Agent-first robotics, not just another robot driver.

roboclaw-rs is a Rust robotics workspace that keeps the runtime core narrow and pushes design exploration into comparable experiment suites. One agent loop, one skill catalog, one backend boundary.

View Repository See Demo Flow
sim-first YAML skills ROS 2 hooks local / cloud planners

Stable Core

The runtime surface stays deliberately small.

  • Planner -> PlanDecision
  • SkillCatalog plus YAML recovery metadata
  • Tool, RobotBackend, Ros2Bridge, Memory
  • instruction -> plan -> execute -> observe -> memory -> resume/replan

Why it matters

Design pressure stays outside the core until it earns its way in.

Promotion, rollback, provenance, prompt shaping, recovery routing, observation reducers, and lag budgets all compete in the experiments/ tree first. The runtime only adopts the minimum boundary that survives repeated comparison.

Experiment → convergence

The repo acts like an exploration engine.

Planner Selection

Compare multiple planner shapes against the same instruction set and metrics.

catalog score · pipeline router · keyword rules

Gateway Replanning

Stress retry, resume, and recovery behavior without mutating the stable runtime seam.

resume-aware replan · fail fast · direct resume first

Provenance and Rollback

Model how promotion, rollback, lag, and artifact trust should behave across release surfaces.

promotion rules · rollback budgets · stitching budgets

Runtime demo

Pick, recover, resume, and compare planners.

$ cargo run --example pick_and_place -- \
  "Use the simulator to pick up the red cube and place it in bin_a."

planner_provider=local
selected_skill=pick_and_place
step_completed=detect_object
step_completed=move_to_object
step_completed=grasp
step_completed=place_object
completed=true
01

Planner routing

Mock, local, and cloud planners target the same YAML skill catalog through one contract.

02

Observation-driven loop

Each step can declare expectations, retry budgets, and resume checkpoints.

03

ROS 2 seam

/cmd_vel, /joint_states, /roboclaw/action, and /roboclaw/state stay visible as the integration boundary.

Reference

Read the runtime, then inspect the evidence.

README Workspace goals, runtime shape, and usage. interfaces.md The current minimum interface boundary. experiments.md Suite-by-suite results and frontier summaries. decisions.md What stays provisional and why.