You will need to set up the virtual environment using the system site package, thus use this command. This is important for getting the Python camera to work with the virtual environment.

python3 -m venv --system-site-packages env

Then you want to source the virtual environment and download the following dependencies: source myenv/bin/activate

• python -m pip install keyboard
• python -m pip install requests
• python -m pip install python-dotenv
• python -m pip install opencv-contrib-python # Required to be opencv-contrib due to use of pose estimation
• python -m pip install scipy # For matrix calculations

If dependency issues still arise, you might need to install the following packages. python3 -m pip install picamera2

Before running anything, make sure that the env file is filled out. NOTHING WORKS IF THE .env FILE IS INCORRECT Contents are to be formated as shown below: API_KEY=Roborock API Key IP_ADDRESS=Roborock IP Address

After installing the necessary libraries and setting up the .env file, you will need to calibrate the camera. This is required to get pose estimation to work properly. This repo already contains a .yaml file containing the Calibration for the Raspberry pi 5 official camera; however, if you are to use your own, you will need to calibrate it. The bash file in the BoardImages folder will allow you to take 11 photos of the Aruco board for calibration and more. Instructions can be found here https://docs.opencv.org/4.x/dc/dbb/tutorial_py_calibration.html and on the bash file

If all dependencies are met, run: sudo env/bin/python3 controlRoborock.py

possible flags: '-d' Prevents any API calls from being sent to the Roborock. Useful for testing a computer vision algorithm without waiting for Roborock responses Note to self, the keyboard library does not work with VNC viewer. You must use an external keyboard. Once the program is launched for manual control, the 2 key is to turn on, and the 4 key is to turn.

Common issues: For the run script, runRoborockControlScript.sh if it does not work, run the command to give it permissions: chmod 700 runRobrockControlScript.sh

If there is an error about incompatible data formatting between simplejpeg and numpy, you might need to go and reinstall simplejpeg:

1. sudo apt remove python3-simplejpeg OR python3 -m pip uninstall simplejpeg # (Depending on where it is installed)
2. python -m pip install --no-cache-dir simplejpeg # Reinstall
3. python3 -m pip install picamera2 # need to reinstall camera