CleanIt
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Sollimann
Open-source Autonomy Software in Rust-lang using gRPC for the Roomba series robot vacuum cleaners. Under development.
Thanks for the covariance computations at https://github.com/Sollimann/CleanIt/blob/main/autonomy/src/slam/README.md ! However, in the definition of $F_p = \frac{\delta f}{\delta x, \delta y, \delta\theta}$, it seems to me the equation for $\frac{\delta f}{\delta\theta}$...
The architecture can be improved by using e.g [NATS](https://github.com/nats-io/nats.rs) for messaging between services, while using gRPC as a forward facing API (facade) for the user. This should improve the design....
Consider using [tonic](https://github.com/hyperium/tonic) gRPC as forward facing API, while using [message-io](https://github.com/lemunozm/message-io) for internal communication / networking