SAINT.OS

System for Articulated Intelligence and Navigation Tasks

SAINT.OS is a ROS2-based operating system for track-based mobile robots featuring dual manipulator arms and an articulated head system. Designed to run on Raspberry Pi hardware with a distributed node architecture.

Features

• Distributed Architecture: Central server with multiple peripheral nodes (head, arms, tracks, console)
• Multiple Input Sources: WebSocket, Unreal Engine LiveLink, iOS/Android face tracking, RC controllers
• Unified Firmware: Single firmware image with role-based node adoption
• Real-time Control: Low-latency input routing with configurable bindings
• OTA Updates: Over-the-air firmware updates for all nodes
• Steam Deck Support: Native controller app with gyro, touchpad, and back button support

Architecture

┌─────────────────────────────────────────────────────────────────┐
│                         SAINT.OS Server                          │
│  ┌──────────────┐  ┌──────────────┐  ┌────────────────────────┐ │
│  │   WebSocket  │  │   LiveLink   │  │   Input/Output Router  │ │
│  │    Server    │  │   Receiver   │  │   (configurable maps)  │ │
│  └──────────────┘  └──────────────┘  └────────────────────────┘ │
└─────────────────────────────────────────────────────────────────┘
                              │ ROS2
        ┌─────────────────────┼─────────────────────┐
        ▼                     ▼                     ▼
   ┌─────────┐           ┌─────────┐           ┌─────────┐
   │  Head   │           │  Arms   │           │ Tracks  │
   │  Node   │           │  Node   │           │  Node   │
   └─────────┘           └─────────┘           └─────────┘

Components

Server (saint_os/)

The central coordinator running on Raspberry Pi 4/5:

• ROS2 node management and topic bridging
• WebSocket API for external control
• LiveLink receiver for Unreal Engine and face tracking
• Web administration interface
• Firmware repository and OTA distribution

Controller App (controller/)

Cross-platform Tauri application for remote control:

• Frontend: Angular 19 + TypeScript + Tailwind CSS
• Backend: Rust with native input handling
• Platforms: Steam Deck (SteamOS), macOS, Windows, Linux
• Features: Gamepad input, gyro control, touchpad support, customizable bindings

Firmware (saint_os/firmware/)

Unified firmware for peripheral nodes:

• Supports Raspberry Pi Pico W, ESP32-S3, and Raspberry Pi 4/5
• micro-ROS integration for ROS2 communication
• Role-based adoption (head, arms, tracks, console)
• GPIO control and sensor interfaces

Getting Started

Prerequisites

• Ubuntu 22.04/24.04 (server) or macOS/Windows (development)
• ROS2 Humble or Iron
• Node.js 18+ and npm (for controller app)
• Rust toolchain (for controller app)

Server Installation

# Clone the repository
git clone https://github.com/your-org/saintos.git
cd saintos

# Install ROS2 dependencies
rosdep install --from-paths saint_os --ignore-src -y

# Build
cd saint_os
colcon build

# Source and run
source install/setup.bash
ros2 launch saint_os server.launch.py

Controller App

cd controller

# Install dependencies
npm install

# Development
npm run tauri dev

# Build for production
npm run tauri build

See INSTALL.md for detailed installation instructions.

Documentation

• SAINT_OS_SPEC.md - Full system specification
• HARDWARE.md - Hardware requirements and supported platforms
• INSTALL.md - Installation guide

Hardware Support

Server

Platform	Status
Raspberry Pi 5	Recommended
Raspberry Pi 4	Supported
x86_64 Linux	Development
macOS (ARM)	Development

Nodes

Platform	Status
Raspberry Pi Pico W	Recommended
ESP32-S3	Supported
Raspberry Pi 4/5	Supported

Controller App

Platform	Status
Steam Deck	Primary target
Linux	Supported
macOS	Supported
Windows	Supported

License

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Contributing

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