Thanks, I'll give it a shot.
No write-up yet. Just started tinkering with the rpi a month ago and decided to use it/this project to learn C++. So far I've got it polling sensors, basic drive program and odometry program, and reading me the battery level in morse code when it reaches 50 and 20%. And it still vacuums. The goal is for it to be able to map any new environment by itself so it the navigate intelligently. Find and come to me on verbal on command and be a mobile media player, home automation controller, start my car in the cold mornings and check through OBD2 data for warnings. Maybe add a manipulator arm to fetch a beer and light a candle when I have lady over.
Anyway, teaching it to map it's environment is next - right after adding a 2nd level of bumper to protect the rpi and code so it slows down when it's ir sensors see an obstacle so it bumps more softly. (like it does when roomba is in control). Maybe an ultrasonic or laser rangefinder to so it can map some things without having to get with 10cm of them. I suppose I should take a break and take some pics and videos and do a write up when I get it moving again.
Fast image recognition and more with even Raspberry Pi robots thanks to super-easy ROS networking that takes just seconds. https://youtu.be/G1gDpmNq7R8