Rosbot ROS

ROS2 packages for ROSbot 2R and ROSbot 2 PRO.

ROS packages

rosbot

Metapackage that contains dependencies to other repositories.

rosbot_bringup

Package that contains launch, which starts all base functionalities. Also configuration for robot_localization and ros2_controllers are defined there.

rosbot_description

URDF model used as a source of transforms on the physical robot. It was written to be compatible with ROS Industrial and preconfigured for ROS2 control.

rosbot_gazebo

Launch files for Ignition Gazebo working with ROS2 control.

rosbot_controller

ROS2 hardware controllers configuration for ROSbots.

ROS API

Available in ROS_API.md

Usage on hardware

To run the software on real ROSbot 2R, 2 PRO, also communication with the CORE2 will be necessary. First update your firmware to make sure that you use the latest version, then run the micro-ROS agent. For detailed instructions refer to the rosbot_ros2_firmware repository.

Source build

Prerequisites

Install all necessary tools:

sudo apt-get update
sudo apt-get install -y python3-pip ros-dev-tools stm32flash

Create workspace folder and clone rosbot_ros repository:

mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/rosbot_ros src/

Build and run on hardware

Building:

export HUSARION_ROS_BUILD=hardware

source /opt/ros/$ROS_DISTRO/setup.bash

vcs import src < src/rosbot/rosbot_hardware.repos

# Build only diff_drive_controller and imu_sensor_broadcaster from ros2_controllers
cp -r src/ros2_controllers/diff_drive_controller src && cp -r src/ros2_controllers/imu_sensor_broadcaster src && rm -rf src/ros2_controllers

rm -r src/rosbot_gazebo

sudo rosdep init
rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

Flash firmware:

source install/setup.bash
ros2 run rosbot_utils flash_firmware

Running:

source install/setup.bash
ros2 launch rosbot_bringup combined.launch.py

Build and run Gazebo simulation

Prerequisites:

Tip

The default version of Gazebo Ignition will be installed with the instructions below. If you want to install a different version of the simulator, it is necessary to:

• Check compatible versions of ROS 2 and Gazebo in this table

• Install the appropriate version,

• Add the GZ_VERSION environment variable appropriate to your version

  export GZ_VERSION=fortress

If you have installed multiple versions of Gazebo use the global variable to select the correct one:

export GZ_VERSION=fortress

Building:

export HUSARION_ROS_BUILD=simulation

source /opt/ros/$ROS_DISTRO/setup.bash

vcs import src < src/rosbot/rosbot_hardware.repos
vcs import src < src/rosbot/rosbot_simulation.repos

# Build only diff_drive_controller and imu_sensor_broadcaster from ros2_controllers
cp -r src/ros2_controllers/diff_drive_controller src && cp -r src/ros2_controllers/imu_sensor_broadcaster src && rm -rf src/ros2_controllers

sudo rosdep init
rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

Running:

source install/setup.bash
ros2 launch rosbot_gazebo simulation.launch.py

Developer info

pre-commit

pre-commit configuration prepares plenty of tests helping for developing and contributing. Usage:

# install pre-commit
pip install pre-commit

# initialize pre-commit workspace
pre-commit install

# manually run tests
pre-commit run -a

After initialization pre-commit configuration will applied on every commit.

Industrial CI

colcon test

Note

Command colcon test does not build the code. Remember to build your code after changes.

If tests finish with errors print logs:

colcon test-result --verbose

Format python code with Black

cd src/
black rosbot*

Testing .github/workflows/industrial_ci.yaml Locally

At fist install act:

cd /
curl -s https://raw.githubusercontent.com/nektos/act/master/install.sh | sudo bash

And test the workflow with:

act -W .github/workflows/industrial_ci.yaml

Demo

Below you can find demos with ROSbots:

link	description
rosbot-docker	Simple example how to drive ROSbot with teleop_twist_keyboard using docker
rosbot-sensors	Visualize all ROSbot sensors
rosbot-gamepad	Stream a live video from Orbbec Astra to a window on your PC. Control the robot using teleop-twist-keyboard
rosbot-telepresence	Stream a live video from Orbbec Astra to a window on your PC. Control the robot using teleop-twist-keyboard
rosbot-autonomy	A combination of mapping and navigation projects allowing simultaneous mapping and navigation in unknown environments.