Ito Droid One is a physical robot concept for Ito, immersive teleoperation software built entirely for human pilots. This document is hardware reference material, not the current Ito driver contract or an implementation guide for the first software version.

It is a simple, low-cost demo robot using hobby servos. It is intended as a lightweight upper-body or non-walking humanoid. SG90 torque is not sufficient to carry the Pi and battery through a walking gait, but works well for joints that only move light 3D-printed parts.

The software stack below predates the current direct-WebRTC architecture. Treat it as an exploration of the robot-side components that a future Ito driver may adapt, not as the required Ito integration.

The 3S LiPo feeds two buck converters: one for the Pi (via USB-C or GPIO 5V pin), one for the PCA9685 HAT's V+ servo rail. SG90s are rated 4.8–6V so the servo rail must be regulated down — the PCA9685 HAT passes V+ straight through to the servos with no onboard regulation. Two separate converters keeps servo current spikes off the Pi's supply.

Stereo pair using two Pi Global Shutter cameras (IMX296, 1.6MP, 1456x1088) with wide FOV C/CS-mount lenses. Global shutter is important for SLAM accuracy during fast head motion.

The Pi 5 has two CSI connectors and supports hardware sync between cameras via the shutter sync line. See the Pi camera sync docs.

Stereo calibration is done once per rig using OpenCV's stereo calibration routine with a checkerboard pattern.

• OS: Ubuntu 24.04
• ROS2: Jazzy (LTS through 2029)
• ROS2 nodes: camera node (image_transport), servo/motor node (PCA9685 over I2C)
• Camera streaming: web_video_server (ros-jazzy-web-video-server)
• Discovery: mDNS via _ito._tcp

On a local network, ROS2 peer discovery is automatic. Over a VPN, the server sets ROS_STATIC_PEERS to the robot's address discovered via mDNS.

Install ROS:

sudo apt install ros-jazzy-ros-base
source /opt/ros/jazzy/setup.bash
echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc

Install the camera node:

sudo apt install ros-jazzy-camera-ros

Install the video server:

sudo apt install ros-jazzy-web-video-server

In a folder, create this launch program:

nano launch.py

from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
    return LaunchDescription([
        Node(
            package='camera_ros',
            executable='camera_node',
            name='camera',
        ),
        Node(
            package='web_video_server',
            executable='web_video_server',
            name='web_video_server'
        ),
    ])

Then configure the program to run on startup:

nano ito-droid-one.service

[Unit]
Description=Ito Robot ROS2 nodes
After=network.target

[Service]
User=maarten
ExecStart=/bin/bash -c "source /opt/ros/jazzy/setup.bash && ros2 launch /home/maarten/dev/ito-droid-one/
launch.py"
Restart=on-failure
RestartSec=5

[Install]
WantedBy=multi-user.target

sudo cp ./ito-droid-one.service /etc/systemd/system/ito-droid-one.service sudo systemctl enable ito-droid-one --now

Now the camera server is running! You can try it out at: http://:8080/