An autonomous self-reflective correction demo for MARS robots — the robot looks in a mirror, notices it's dirty, narrates what it sees, and drives itself through a brush station to clean up.

Built on Innate's Rosbridge v2.0 WebSocket stack over ROS2.

The robot executes a closed-loop self-awareness sequence with no pre-scripted dialogue:

1. Turns to face a mirror — spins 90° right
2. Looks at itself — takes a photo through its main camera
3. Reflects — Claude analyzes the image and generates context-aware speech describing what it actually sees (dirt, obstructions, sticky notes)
4. Declares intent — "Let me clean up."
5. Turns to the brush station — spins 180° to face the chair with brushes in its legs
6. Confirms the path — takes another photo, verifies the station is ahead
7. Drives through — slow pass through the brush "car wash"
8. Verifies the result — turns back to the mirror, takes an after photo, reacts

Nothing the robot says is canned. Every line of speech is generated from what the camera actually sees.

bun run src/demo-self-clean.ts 172.17.30.145

Photos taken by the robot's own camera during the live demo run.

1. Worm's eye view — robot observing the room before the sequence

2. Initial orientation check — scanning the space

3. Looking toward the mirror — head tilted down

4. Turning 180° — brush station comes into view

5. Inside the chair — first pass attempt

6. Backing up to realign — path correction

7. Close-up of the MARS robot

8. Approaching the station — robot's-eye view

9. The cleaning station — exterior shot

Claude (decides what to do + generates speech from vision)
    ↓ JSON-over-WebSocket (port 9090)
rosbridge_server (on Jetson)
    ↓
skills_action_server ← Innate's Python skill pipeline
    ↓
ManipulationInterface / MobilityInterface / HeadInterface
    ↓
MoveIt, Nav2, servo drivers, hardware

• src/rosbridge-client.ts — Core WebSocket client (topics, services, actions)
• src/mars-topics.ts — Typed topic/service/message constants
• src/repl.ts — Interactive REPL for live robot control
• src/validate.ts — Incremental validation tests (1–7)
• src/demo-self-clean.ts — The cleaning station demo sequence
• src/plans/self-reflective-clean.md — Vision-driven plan spec
• web/ — Next.js frontend for browser-based control
• skills/mars-robot-control/ — Reusable robot control skill + references

bun install

Connect to the robot over the same network. Default IP: 172.17.30.145, Rosbridge port: 9090.

# Validate the connection before running the demo
bun run src/validate.ts 172.17.30.145 1   # connection + discovery
bun run src/validate.ts 172.17.30.145 2   # head emotion (safest)
bun run src/validate.ts 172.17.30.145 3   # GotoJS no-op

bun run skills/mars-robot-control/scripts/robot-cmd.ts <robot-ip> <command> [args]

bun run src/repl.ts 172.17.30.145

• Default IP: 172.17.30.145
• Rosbridge: port 9090
• SSH: ssh jetson1@<ip> (password: goodbot)
• Speed caps: 0.3 m/s linear, 1.0 rad/s angular