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rosbot_ros repository

rosbot rosbot_bringup rosbot_controller rosbot_description rosbot_gazebo rosbot_hardware_interfaces rosbot_joy rosbot_localization rosbot_utils

ROS Distro
humble

Repository Summary

Description
Checkout URI https://github.com/husarion/rosbot_ros.git
VCS Type git
VCS Version humble
Last Updated 2025-12-09
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
rosbot 0.15.2
rosbot_bringup 0.15.2
rosbot_controller 0.15.2
rosbot_description 0.15.2
rosbot_gazebo 0.15.2
rosbot_hardware_interfaces 0.15.2
rosbot_joy 0.15.2
rosbot_localization 0.15.2
rosbot_utils 0.15.2

README

ROSbot ROS

ROS 2 packages for Husarion ROSbot Series.

ROSbot ROSbot XL

📚 ROS API

Documentation is available in ROS_API.md.

🚀 Quick Start

⚙️ Prerequisites

  1. Install all necessary tools:
   sudo apt-get update
   sudo apt-get install -y python3-pip ros-dev-tools
  1. Create a workspace folder and clone the rosbot_ros repository:
   mkdir rosbot_ws
   cd rosbot_ws
   git clone -b humble https://github.com/husarion/rosbot_ros.git src/rosbot_ros

Configure environment

The repository is used to run the code both on the real robot and in the simulation. Specify HUSARION_ROS_BUILD_TYPE the variable according to your needs.

Real robot:

export HUSARION_ROS_BUILD_TYPE=hardware

Simulation:

export HUSARION_ROS_BUILD_TYPE=simulation

Build

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

vcs import src < src/rosbot_ros/rosbot/rosbot_${HUSARION_ROS_BUILD_TYPE}.repos
vcs import src < src/rosbot_ros/rosbot/manipulator.repos # For ROSbot XL manipulation package

sudo rosdep init
rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y

colcon build --symlink-install --packages-up-to rosbot --cmake-args -DCMAKE_BUILD_TYPE=Release

Run the Robot

For ROSbot XL, you can specify a particular configuration using the launch configuration argument. If you are using the manipulation configuration, please refer to MANIPULATOR.md for detailed instructions.

Real robot:

source install/setup.bash
ros2 launch rosbot_bringup bringup.launch.py robot_model:=<rosbot/rosbot_xl>

[!NOTE] To run the software on real ROSbots, communication with the CORE2 is required. Ensure the firmware is updated before running the micro-ROS agent. For detailed instructions, refer to the rosbot_ros2_firmware repository.

sudo su
source install/setup.bash
ros2 run rosbot_utils flash_firmware --robot-model <rosbot/rosbot_xl>
exit

Simulation:

source install/setup.bash
ros2 launch rosbot_gazebo simulation.launch.py robot_model:=<rosbot/rosbot_xl>

Launch Arguments

Symbol Meaning
🤖 Available for physical robot
🖥️ Available in simulation

| 🤖 | 🖥️ | Argument | Description
Type: Default | | — | — | ——————- | ————————————————————————————————————————————————————————————————– |

File truncated at 100 lines see the full file

CONTRIBUTING

Developer info and tools

USB-A connection

You can connect with the ROSbot hardware on your own computer. To establish a connection, connect your computer to the robot using a USB-A cable. Then build the code locally and specify via the serial_port argument which processor should be used to establish the connection.

ros2 launch rosbot_bringup bringup.launch.py serial_port:=/dev/ttyUSB0

The hardware checks the connection via USB-A only during initialization and when btn1 or btn2 is pressed, so while executing the above command, hold down the reset button together with bnt1/bnt2 and release the reset button. After establishing a connection, you can release bnt1/bnt2.

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.

# Developer info and tools ## USB-A connection You can connect with the ROSbot hardware on your own computer. To establish a connection, connect your computer to the robot using a USB-A cable. Then build the code locally and specify via the serial_port argument which processor should be used to establish the connection. ```bash ros2 launch rosbot_bringup bringup.launch.py serial_port:=/dev/ttyUSB0 ``` The hardware checks the connection via USB-A only during initialization and when btn1 or btn2 is pressed, so while executing the above command, hold down the reset button together with bnt1/bnt2 and release the reset button. After establishing a connection, you can release bnt1/bnt2. ## pre-commit [pre-commit configuration](.pre-commit-config.yaml) prepares plenty of tests helping for developing and contributing. Usage: ```bash # 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](.pre-commit-config.yaml) will applied on every commit.
Repo symbol

rosbot_ros repository

rosbot rosbot_bringup rosbot_controller rosbot_description rosbot_gazebo rosbot_hardware_interfaces rosbot_joy rosbot_localization rosbot_moveit rosbot_utils

ROS Distro
jazzy

Repository Summary

Description
Checkout URI https://github.com/husarion/rosbot_ros.git
VCS Type git
VCS Version jazzy
Last Updated 2026-03-06
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
rosbot 0.18.8
rosbot_bringup 0.18.8
rosbot_controller 0.18.8
rosbot_description 0.18.8
rosbot_gazebo 0.18.8
rosbot_hardware_interfaces 0.18.8
rosbot_joy 0.18.8
rosbot_localization 0.18.8
rosbot_moveit 0.18.8
rosbot_utils 0.18.8

README

ROSbot ROS

ROS 2 packages for Husarion ROSbot Series.

ROSbot ROSbot XL

📚 ROS API

Documentation is available in ROS_API.md.

🚀 Quick Start

⚙️ Prerequisites

  1. Install all necessary tools:
   sudo apt-get update
   sudo apt-get install -y python3-pip ros-dev-tools
  1. Create a workspace folder and clone the rosbot_ros repository:
   mkdir rosbot_ws
   cd rosbot_ws
   git clone -b jazzy https://github.com/husarion/rosbot_ros.git src/rosbot_ros

Build

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

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

# Optional: speed up build by removing unnecessary packages
# For hardware build only, remove simulation package:
# rm -rf src/rosbot_ros/rosbot_gazebo
# For simulation build only, remove hardware package:
# rm -rf src/rosbot_ros/rosbot_bringup

export PIP_BREAK_SYSTEM_PACKAGES=1
sudo rosdep init
rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

Run the Robot

For ROSbot XL, you can specify a particular configuration using the launch configuration argument. If you are using the manipulation configuration, please refer to MANIPULATOR.md for detailed instructions.

Real robot:

source install/setup.bash
ros2 launch rosbot_bringup bringup.yaml robot_model:=<rosbot/rosbot_xl>

[!NOTE] To run the software on real ROSbots, communication with the CORE2 is required. Ensure the firmware is updated before running the micro-ROS agent. For detailed instructions, refer to the rosbot_ros2_firmware repository.

sudo su
source install/setup.bash
ros2 run rosbot_utils flash_firmware --robot-model <rosbot/rosbot_xl>
exit

Simulation:

source install/setup.bash
ros2 launch rosbot_gazebo simulation.yaml robot_model:=<rosbot/rosbot_xl>

Launch Arguments

Symbol Meaning
🤖 Available for physical robot
🖥️ Available in simulation
🤖 🖥️ Argument Description
Type: Default
✅ ✅ arm_activate Whether to activate the manipulator arm on startup..
bool: False (True for simulation)
✅ ✅ config_dir Path to the common configuration directory. You can create such common configuration directory with ros2 run rosbot_utils create_config_dir {directory}.
string: ""
✅ ✅ configuration Specify configuration packages. Currently only ROSbot XL has available packages. Packages: basic, telepresence, autonomy, manipulation, manipulation_pro, custom.
string: basic
✅ ✅ joy_vel The topic name to which velocity commands will be published.
string: cmd_vel
✅ ✅ mecanum Whether to use mecanum drive controller, otherwise use diff drive.
bool: False
✅ ✅ namespace Add namespace to all launched nodes.
string: env(ROBOT_NAMESPACE)
✅ ✅ robot_model Specify robot model.
string: env(ROBOT_MODEL) (choices: rosbot, rosbot_xl)
✅ ❌ manipulator_serial_port Port to connect to the manipulator.
string: /dev/ttyUSB0
✅ ❌ microros Automatically connect with hardware using microros.
bool: True

File truncated at 100 lines see the full file

CONTRIBUTING

Developer info and tools

USB-B connection

You can connect with the ROSbot hardware on your own computer. To establish a connection, connect your computer to the robot using a USB-B cable. Then build the code locally and specify via the serial_port argument which processor should be used to establish the connection.

ros2 launch rosbot_bringup bringup.yaml serial_port:=/dev/ttyUSB0

The hardware checks the connection via USB-B only during initialization and when btn1 or btn2 is pressed, so while executing the above command, hold down the reset button together with bnt1/bnt2 and release the reset button. After establishing a connection, you can release bnt1/bnt2.

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.

# Developer info and tools ## USB-B connection You can connect with the ROSbot hardware on your own computer. To establish a connection, connect your computer to the robot using a USB-B cable. Then build the code locally and specify via the serial_port argument which processor should be used to establish the connection. ```bash ros2 launch rosbot_bringup bringup.yaml serial_port:=/dev/ttyUSB0 ``` The hardware checks the connection via USB-B only during initialization and when btn1 or btn2 is pressed, so while executing the above command, hold down the reset button together with bnt1/bnt2 and release the reset button. After establishing a connection, you can release bnt1/bnt2. ## pre-commit [pre-commit configuration](.pre-commit-config.yaml) prepares plenty of tests helping for developing and contributing. Usage: ```bash # 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](.pre-commit-config.yaml) will applied on every commit.
No version for distro kilted showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

rosbot_ros repository

rosbot rosbot_bringup rosbot_controller rosbot_description rosbot_gazebo rosbot_hardware_interfaces rosbot_joy rosbot_localization rosbot_utils

ROS Distro
humble

Repository Summary

Description
Checkout URI https://github.com/husarion/rosbot_ros.git
VCS Type git
VCS Version humble
Last Updated 2025-12-09
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
rosbot 0.15.2
rosbot_bringup 0.15.2
rosbot_controller 0.15.2
rosbot_description 0.15.2
rosbot_gazebo 0.15.2
rosbot_hardware_interfaces 0.15.2
rosbot_joy 0.15.2
rosbot_localization 0.15.2
rosbot_utils 0.15.2

README

ROSbot ROS

ROS 2 packages for Husarion ROSbot Series.

ROSbot ROSbot XL

📚 ROS API

Documentation is available in ROS_API.md.

🚀 Quick Start

⚙️ Prerequisites

  1. Install all necessary tools:
   sudo apt-get update
   sudo apt-get install -y python3-pip ros-dev-tools
  1. Create a workspace folder and clone the rosbot_ros repository:
   mkdir rosbot_ws
   cd rosbot_ws
   git clone -b humble https://github.com/husarion/rosbot_ros.git src/rosbot_ros

Configure environment

The repository is used to run the code both on the real robot and in the simulation. Specify HUSARION_ROS_BUILD_TYPE the variable according to your needs.

Real robot:

export HUSARION_ROS_BUILD_TYPE=hardware

Simulation:

export HUSARION_ROS_BUILD_TYPE=simulation

Build

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

vcs import src < src/rosbot_ros/rosbot/rosbot_${HUSARION_ROS_BUILD_TYPE}.repos
vcs import src < src/rosbot_ros/rosbot/manipulator.repos # For ROSbot XL manipulation package

sudo rosdep init
rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y

colcon build --symlink-install --packages-up-to rosbot --cmake-args -DCMAKE_BUILD_TYPE=Release

Run the Robot

For ROSbot XL, you can specify a particular configuration using the launch configuration argument. If you are using the manipulation configuration, please refer to MANIPULATOR.md for detailed instructions.

Real robot:

source install/setup.bash
ros2 launch rosbot_bringup bringup.launch.py robot_model:=<rosbot/rosbot_xl>

[!NOTE] To run the software on real ROSbots, communication with the CORE2 is required. Ensure the firmware is updated before running the micro-ROS agent. For detailed instructions, refer to the rosbot_ros2_firmware repository.

sudo su
source install/setup.bash
ros2 run rosbot_utils flash_firmware --robot-model <rosbot/rosbot_xl>
exit

Simulation:

source install/setup.bash
ros2 launch rosbot_gazebo simulation.launch.py robot_model:=<rosbot/rosbot_xl>

Launch Arguments

Symbol Meaning
🤖 Available for physical robot
🖥️ Available in simulation

| 🤖 | 🖥️ | Argument | Description
Type: Default | | — | — | ——————- | ————————————————————————————————————————————————————————————————– |

File truncated at 100 lines see the full file

CONTRIBUTING

Developer info and tools

USB-A connection

You can connect with the ROSbot hardware on your own computer. To establish a connection, connect your computer to the robot using a USB-A cable. Then build the code locally and specify via the serial_port argument which processor should be used to establish the connection.

ros2 launch rosbot_bringup bringup.launch.py serial_port:=/dev/ttyUSB0

The hardware checks the connection via USB-A only during initialization and when btn1 or btn2 is pressed, so while executing the above command, hold down the reset button together with bnt1/bnt2 and release the reset button. After establishing a connection, you can release bnt1/bnt2.

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.

# Developer info and tools ## USB-A connection You can connect with the ROSbot hardware on your own computer. To establish a connection, connect your computer to the robot using a USB-A cable. Then build the code locally and specify via the serial_port argument which processor should be used to establish the connection. ```bash ros2 launch rosbot_bringup bringup.launch.py serial_port:=/dev/ttyUSB0 ``` The hardware checks the connection via USB-A only during initialization and when btn1 or btn2 is pressed, so while executing the above command, hold down the reset button together with bnt1/bnt2 and release the reset button. After establishing a connection, you can release bnt1/bnt2. ## pre-commit [pre-commit configuration](.pre-commit-config.yaml) prepares plenty of tests helping for developing and contributing. Usage: ```bash # 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](.pre-commit-config.yaml) will applied on every commit.
No version for distro rolling showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

rosbot_ros repository

rosbot rosbot_bringup rosbot_controller rosbot_description rosbot_gazebo rosbot_hardware_interfaces rosbot_joy rosbot_localization rosbot_utils

ROS Distro
humble

Repository Summary

Description
Checkout URI https://github.com/husarion/rosbot_ros.git
VCS Type git
VCS Version humble
Last Updated 2025-12-09
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
rosbot 0.15.2
rosbot_bringup 0.15.2
rosbot_controller 0.15.2
rosbot_description 0.15.2
rosbot_gazebo 0.15.2
rosbot_hardware_interfaces 0.15.2
rosbot_joy 0.15.2
rosbot_localization 0.15.2
rosbot_utils 0.15.2

README

ROSbot ROS

ROS 2 packages for Husarion ROSbot Series.

ROSbot ROSbot XL

📚 ROS API

Documentation is available in ROS_API.md.

🚀 Quick Start

⚙️ Prerequisites

  1. Install all necessary tools:
   sudo apt-get update
   sudo apt-get install -y python3-pip ros-dev-tools
  1. Create a workspace folder and clone the rosbot_ros repository:
   mkdir rosbot_ws
   cd rosbot_ws
   git clone -b humble https://github.com/husarion/rosbot_ros.git src/rosbot_ros

Configure environment

The repository is used to run the code both on the real robot and in the simulation. Specify HUSARION_ROS_BUILD_TYPE the variable according to your needs.

Real robot:

export HUSARION_ROS_BUILD_TYPE=hardware

Simulation:

export HUSARION_ROS_BUILD_TYPE=simulation

Build

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

vcs import src < src/rosbot_ros/rosbot/rosbot_${HUSARION_ROS_BUILD_TYPE}.repos
vcs import src < src/rosbot_ros/rosbot/manipulator.repos # For ROSbot XL manipulation package

sudo rosdep init
rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y

colcon build --symlink-install --packages-up-to rosbot --cmake-args -DCMAKE_BUILD_TYPE=Release

Run the Robot

For ROSbot XL, you can specify a particular configuration using the launch configuration argument. If you are using the manipulation configuration, please refer to MANIPULATOR.md for detailed instructions.

Real robot:

source install/setup.bash
ros2 launch rosbot_bringup bringup.launch.py robot_model:=<rosbot/rosbot_xl>

[!NOTE] To run the software on real ROSbots, communication with the CORE2 is required. Ensure the firmware is updated before running the micro-ROS agent. For detailed instructions, refer to the rosbot_ros2_firmware repository.

sudo su
source install/setup.bash
ros2 run rosbot_utils flash_firmware --robot-model <rosbot/rosbot_xl>
exit

Simulation:

source install/setup.bash
ros2 launch rosbot_gazebo simulation.launch.py robot_model:=<rosbot/rosbot_xl>

Launch Arguments

Symbol Meaning
🤖 Available for physical robot
🖥️ Available in simulation

| 🤖 | 🖥️ | Argument | Description
Type: Default | | — | — | ——————- | ————————————————————————————————————————————————————————————————– |

File truncated at 100 lines see the full file

CONTRIBUTING

Developer info and tools

USB-A connection

You can connect with the ROSbot hardware on your own computer. To establish a connection, connect your computer to the robot using a USB-A cable. Then build the code locally and specify via the serial_port argument which processor should be used to establish the connection.

ros2 launch rosbot_bringup bringup.launch.py serial_port:=/dev/ttyUSB0

The hardware checks the connection via USB-A only during initialization and when btn1 or btn2 is pressed, so while executing the above command, hold down the reset button together with bnt1/bnt2 and release the reset button. After establishing a connection, you can release bnt1/bnt2.

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.

# Developer info and tools ## USB-A connection You can connect with the ROSbot hardware on your own computer. To establish a connection, connect your computer to the robot using a USB-A cable. Then build the code locally and specify via the serial_port argument which processor should be used to establish the connection. ```bash ros2 launch rosbot_bringup bringup.launch.py serial_port:=/dev/ttyUSB0 ``` The hardware checks the connection via USB-A only during initialization and when btn1 or btn2 is pressed, so while executing the above command, hold down the reset button together with bnt1/bnt2 and release the reset button. After establishing a connection, you can release bnt1/bnt2. ## pre-commit [pre-commit configuration](.pre-commit-config.yaml) prepares plenty of tests helping for developing and contributing. Usage: ```bash # 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](.pre-commit-config.yaml) will applied on every commit.
Repo symbol

rosbot_ros repository

rosbot rosbot_bringup rosbot_controller rosbot_description rosbot_gazebo rosbot_hardware_interfaces rosbot_joy rosbot_localization rosbot_moveit rosbot_utils

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/husarion/rosbot_ros.git
VCS Type git
VCS Version jazzy
Last Updated 2026-03-06
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
rosbot 0.18.8
rosbot_bringup 0.18.8
rosbot_controller 0.18.8
rosbot_description 0.18.8
rosbot_gazebo 0.18.8
rosbot_hardware_interfaces 0.18.8
rosbot_joy 0.18.8
rosbot_localization 0.18.8
rosbot_moveit 0.18.8
rosbot_utils 0.18.8

README

ROSbot ROS

ROS 2 packages for Husarion ROSbot Series.

ROSbot ROSbot XL

📚 ROS API

Documentation is available in ROS_API.md.

🚀 Quick Start

⚙️ Prerequisites

  1. Install all necessary tools:
   sudo apt-get update
   sudo apt-get install -y python3-pip ros-dev-tools
  1. Create a workspace folder and clone the rosbot_ros repository:
   mkdir rosbot_ws
   cd rosbot_ws
   git clone -b jazzy https://github.com/husarion/rosbot_ros.git src/rosbot_ros

Build

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

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

# Optional: speed up build by removing unnecessary packages
# For hardware build only, remove simulation package:
# rm -rf src/rosbot_ros/rosbot_gazebo
# For simulation build only, remove hardware package:
# rm -rf src/rosbot_ros/rosbot_bringup

export PIP_BREAK_SYSTEM_PACKAGES=1
sudo rosdep init
rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

Run the Robot

For ROSbot XL, you can specify a particular configuration using the launch configuration argument. If you are using the manipulation configuration, please refer to MANIPULATOR.md for detailed instructions.

Real robot:

source install/setup.bash
ros2 launch rosbot_bringup bringup.yaml robot_model:=<rosbot/rosbot_xl>

[!NOTE] To run the software on real ROSbots, communication with the CORE2 is required. Ensure the firmware is updated before running the micro-ROS agent. For detailed instructions, refer to the rosbot_ros2_firmware repository.

sudo su
source install/setup.bash
ros2 run rosbot_utils flash_firmware --robot-model <rosbot/rosbot_xl>
exit

Simulation:

source install/setup.bash
ros2 launch rosbot_gazebo simulation.yaml robot_model:=<rosbot/rosbot_xl>

Launch Arguments

Symbol Meaning
🤖 Available for physical robot
🖥️ Available in simulation
🤖 🖥️ Argument Description
Type: Default
✅ ✅ arm_activate Whether to activate the manipulator arm on startup..
bool: False (True for simulation)
✅ ✅ config_dir Path to the common configuration directory. You can create such common configuration directory with ros2 run rosbot_utils create_config_dir {directory}.
string: ""
✅ ✅ configuration Specify configuration packages. Currently only ROSbot XL has available packages. Packages: basic, telepresence, autonomy, manipulation, manipulation_pro, custom.
string: basic
✅ ✅ joy_vel The topic name to which velocity commands will be published.
string: cmd_vel
✅ ✅ mecanum Whether to use mecanum drive controller, otherwise use diff drive.
bool: False
✅ ✅ namespace Add namespace to all launched nodes.
string: env(ROBOT_NAMESPACE)
✅ ✅ robot_model Specify robot model.
string: env(ROBOT_MODEL) (choices: rosbot, rosbot_xl)
✅ ❌ manipulator_serial_port Port to connect to the manipulator.
string: /dev/ttyUSB0
✅ ❌ microros Automatically connect with hardware using microros.
bool: True

File truncated at 100 lines see the full file

CONTRIBUTING

Developer info and tools

USB-B connection

You can connect with the ROSbot hardware on your own computer. To establish a connection, connect your computer to the robot using a USB-B cable. Then build the code locally and specify via the serial_port argument which processor should be used to establish the connection.

ros2 launch rosbot_bringup bringup.yaml serial_port:=/dev/ttyUSB0

The hardware checks the connection via USB-B only during initialization and when btn1 or btn2 is pressed, so while executing the above command, hold down the reset button together with bnt1/bnt2 and release the reset button. After establishing a connection, you can release bnt1/bnt2.

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.

# Developer info and tools ## USB-B connection You can connect with the ROSbot hardware on your own computer. To establish a connection, connect your computer to the robot using a USB-B cable. Then build the code locally and specify via the serial_port argument which processor should be used to establish the connection. ```bash ros2 launch rosbot_bringup bringup.yaml serial_port:=/dev/ttyUSB0 ``` The hardware checks the connection via USB-B only during initialization and when btn1 or btn2 is pressed, so while executing the above command, hold down the reset button together with bnt1/bnt2 and release the reset button. After establishing a connection, you can release bnt1/bnt2. ## pre-commit [pre-commit configuration](.pre-commit-config.yaml) prepares plenty of tests helping for developing and contributing. Usage: ```bash # 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](.pre-commit-config.yaml) will applied on every commit.
No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

rosbot_ros repository

rosbot rosbot_bringup rosbot_controller rosbot_description rosbot_gazebo rosbot_hardware_interfaces rosbot_joy rosbot_localization rosbot_utils

ROS Distro
humble

Repository Summary

Description
Checkout URI https://github.com/husarion/rosbot_ros.git
VCS Type git
VCS Version humble
Last Updated 2025-12-09
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
rosbot 0.15.2
rosbot_bringup 0.15.2
rosbot_controller 0.15.2
rosbot_description 0.15.2
rosbot_gazebo 0.15.2
rosbot_hardware_interfaces 0.15.2
rosbot_joy 0.15.2
rosbot_localization 0.15.2
rosbot_utils 0.15.2

README

ROSbot ROS

ROS 2 packages for Husarion ROSbot Series.

ROSbot ROSbot XL

📚 ROS API

Documentation is available in ROS_API.md.

🚀 Quick Start

⚙️ Prerequisites

  1. Install all necessary tools:
   sudo apt-get update
   sudo apt-get install -y python3-pip ros-dev-tools
  1. Create a workspace folder and clone the rosbot_ros repository:
   mkdir rosbot_ws
   cd rosbot_ws
   git clone -b humble https://github.com/husarion/rosbot_ros.git src/rosbot_ros

Configure environment

The repository is used to run the code both on the real robot and in the simulation. Specify HUSARION_ROS_BUILD_TYPE the variable according to your needs.

Real robot:

export HUSARION_ROS_BUILD_TYPE=hardware

Simulation:

export HUSARION_ROS_BUILD_TYPE=simulation

Build

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

vcs import src < src/rosbot_ros/rosbot/rosbot_${HUSARION_ROS_BUILD_TYPE}.repos
vcs import src < src/rosbot_ros/rosbot/manipulator.repos # For ROSbot XL manipulation package

sudo rosdep init
rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y

colcon build --symlink-install --packages-up-to rosbot --cmake-args -DCMAKE_BUILD_TYPE=Release

Run the Robot

For ROSbot XL, you can specify a particular configuration using the launch configuration argument. If you are using the manipulation configuration, please refer to MANIPULATOR.md for detailed instructions.

Real robot:

source install/setup.bash
ros2 launch rosbot_bringup bringup.launch.py robot_model:=<rosbot/rosbot_xl>

[!NOTE] To run the software on real ROSbots, communication with the CORE2 is required. Ensure the firmware is updated before running the micro-ROS agent. For detailed instructions, refer to the rosbot_ros2_firmware repository.

sudo su
source install/setup.bash
ros2 run rosbot_utils flash_firmware --robot-model <rosbot/rosbot_xl>
exit

Simulation:

source install/setup.bash
ros2 launch rosbot_gazebo simulation.launch.py robot_model:=<rosbot/rosbot_xl>

Launch Arguments

Symbol Meaning
🤖 Available for physical robot
🖥️ Available in simulation

| 🤖 | 🖥️ | Argument | Description
Type: Default | | — | — | ——————- | ————————————————————————————————————————————————————————————————– |

File truncated at 100 lines see the full file

CONTRIBUTING

Developer info and tools

USB-A connection

You can connect with the ROSbot hardware on your own computer. To establish a connection, connect your computer to the robot using a USB-A cable. Then build the code locally and specify via the serial_port argument which processor should be used to establish the connection.

ros2 launch rosbot_bringup bringup.launch.py serial_port:=/dev/ttyUSB0

The hardware checks the connection via USB-A only during initialization and when btn1 or btn2 is pressed, so while executing the above command, hold down the reset button together with bnt1/bnt2 and release the reset button. After establishing a connection, you can release bnt1/bnt2.

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.

# Developer info and tools ## USB-A connection You can connect with the ROSbot hardware on your own computer. To establish a connection, connect your computer to the robot using a USB-A cable. Then build the code locally and specify via the serial_port argument which processor should be used to establish the connection. ```bash ros2 launch rosbot_bringup bringup.launch.py serial_port:=/dev/ttyUSB0 ``` The hardware checks the connection via USB-A only during initialization and when btn1 or btn2 is pressed, so while executing the above command, hold down the reset button together with bnt1/bnt2 and release the reset button. After establishing a connection, you can release bnt1/bnt2. ## pre-commit [pre-commit configuration](.pre-commit-config.yaml) prepares plenty of tests helping for developing and contributing. Usage: ```bash # 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](.pre-commit-config.yaml) will applied on every commit.
No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

rosbot_ros repository

rosbot rosbot_bringup rosbot_controller rosbot_description rosbot_gazebo rosbot_hardware_interfaces rosbot_joy rosbot_localization rosbot_utils

ROS Distro
humble

Repository Summary

Description
Checkout URI https://github.com/husarion/rosbot_ros.git
VCS Type git
VCS Version humble
Last Updated 2025-12-09
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
rosbot 0.15.2
rosbot_bringup 0.15.2
rosbot_controller 0.15.2
rosbot_description 0.15.2
rosbot_gazebo 0.15.2
rosbot_hardware_interfaces 0.15.2
rosbot_joy 0.15.2
rosbot_localization 0.15.2
rosbot_utils 0.15.2

README

ROSbot ROS

ROS 2 packages for Husarion ROSbot Series.

ROSbot ROSbot XL

📚 ROS API

Documentation is available in ROS_API.md.

🚀 Quick Start

⚙️ Prerequisites

  1. Install all necessary tools:
   sudo apt-get update
   sudo apt-get install -y python3-pip ros-dev-tools
  1. Create a workspace folder and clone the rosbot_ros repository:
   mkdir rosbot_ws
   cd rosbot_ws
   git clone -b humble https://github.com/husarion/rosbot_ros.git src/rosbot_ros

Configure environment

The repository is used to run the code both on the real robot and in the simulation. Specify HUSARION_ROS_BUILD_TYPE the variable according to your needs.

Real robot:

export HUSARION_ROS_BUILD_TYPE=hardware

Simulation:

export HUSARION_ROS_BUILD_TYPE=simulation

Build

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

vcs import src < src/rosbot_ros/rosbot/rosbot_${HUSARION_ROS_BUILD_TYPE}.repos
vcs import src < src/rosbot_ros/rosbot/manipulator.repos # For ROSbot XL manipulation package

sudo rosdep init
rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y

colcon build --symlink-install --packages-up-to rosbot --cmake-args -DCMAKE_BUILD_TYPE=Release

Run the Robot

For ROSbot XL, you can specify a particular configuration using the launch configuration argument. If you are using the manipulation configuration, please refer to MANIPULATOR.md for detailed instructions.

Real robot:

source install/setup.bash
ros2 launch rosbot_bringup bringup.launch.py robot_model:=<rosbot/rosbot_xl>

[!NOTE] To run the software on real ROSbots, communication with the CORE2 is required. Ensure the firmware is updated before running the micro-ROS agent. For detailed instructions, refer to the rosbot_ros2_firmware repository.

sudo su
source install/setup.bash
ros2 run rosbot_utils flash_firmware --robot-model <rosbot/rosbot_xl>
exit

Simulation:

source install/setup.bash
ros2 launch rosbot_gazebo simulation.launch.py robot_model:=<rosbot/rosbot_xl>

Launch Arguments

Symbol Meaning
🤖 Available for physical robot
🖥️ Available in simulation

| 🤖 | 🖥️ | Argument | Description
Type: Default | | — | — | ——————- | ————————————————————————————————————————————————————————————————– |

File truncated at 100 lines see the full file

CONTRIBUTING

Developer info and tools

USB-A connection

You can connect with the ROSbot hardware on your own computer. To establish a connection, connect your computer to the robot using a USB-A cable. Then build the code locally and specify via the serial_port argument which processor should be used to establish the connection.

ros2 launch rosbot_bringup bringup.launch.py serial_port:=/dev/ttyUSB0

The hardware checks the connection via USB-A only during initialization and when btn1 or btn2 is pressed, so while executing the above command, hold down the reset button together with bnt1/bnt2 and release the reset button. After establishing a connection, you can release bnt1/bnt2.

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.

# Developer info and tools ## USB-A connection You can connect with the ROSbot hardware on your own computer. To establish a connection, connect your computer to the robot using a USB-A cable. Then build the code locally and specify via the serial_port argument which processor should be used to establish the connection. ```bash ros2 launch rosbot_bringup bringup.launch.py serial_port:=/dev/ttyUSB0 ``` The hardware checks the connection via USB-A only during initialization and when btn1 or btn2 is pressed, so while executing the above command, hold down the reset button together with bnt1/bnt2 and release the reset button. After establishing a connection, you can release bnt1/bnt2. ## pre-commit [pre-commit configuration](.pre-commit-config.yaml) prepares plenty of tests helping for developing and contributing. Usage: ```bash # 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](.pre-commit-config.yaml) will applied on every commit.
No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

rosbot_ros repository

rosbot rosbot_bringup rosbot_controller rosbot_description rosbot_gazebo rosbot_hardware_interfaces rosbot_joy rosbot_localization rosbot_utils

ROS Distro
humble

Repository Summary

Description
Checkout URI https://github.com/husarion/rosbot_ros.git
VCS Type git
VCS Version humble
Last Updated 2025-12-09
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
rosbot 0.15.2
rosbot_bringup 0.15.2
rosbot_controller 0.15.2
rosbot_description 0.15.2
rosbot_gazebo 0.15.2
rosbot_hardware_interfaces 0.15.2
rosbot_joy 0.15.2
rosbot_localization 0.15.2
rosbot_utils 0.15.2

README

ROSbot ROS

ROS 2 packages for Husarion ROSbot Series.

ROSbot ROSbot XL

📚 ROS API

Documentation is available in ROS_API.md.

🚀 Quick Start

⚙️ Prerequisites

  1. Install all necessary tools:
   sudo apt-get update
   sudo apt-get install -y python3-pip ros-dev-tools
  1. Create a workspace folder and clone the rosbot_ros repository:
   mkdir rosbot_ws
   cd rosbot_ws
   git clone -b humble https://github.com/husarion/rosbot_ros.git src/rosbot_ros

Configure environment

The repository is used to run the code both on the real robot and in the simulation. Specify HUSARION_ROS_BUILD_TYPE the variable according to your needs.

Real robot:

export HUSARION_ROS_BUILD_TYPE=hardware

Simulation:

export HUSARION_ROS_BUILD_TYPE=simulation

Build

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

vcs import src < src/rosbot_ros/rosbot/rosbot_${HUSARION_ROS_BUILD_TYPE}.repos
vcs import src < src/rosbot_ros/rosbot/manipulator.repos # For ROSbot XL manipulation package

sudo rosdep init
rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y

colcon build --symlink-install --packages-up-to rosbot --cmake-args -DCMAKE_BUILD_TYPE=Release

Run the Robot

For ROSbot XL, you can specify a particular configuration using the launch configuration argument. If you are using the manipulation configuration, please refer to MANIPULATOR.md for detailed instructions.

Real robot:

source install/setup.bash
ros2 launch rosbot_bringup bringup.launch.py robot_model:=<rosbot/rosbot_xl>

[!NOTE] To run the software on real ROSbots, communication with the CORE2 is required. Ensure the firmware is updated before running the micro-ROS agent. For detailed instructions, refer to the rosbot_ros2_firmware repository.

sudo su
source install/setup.bash
ros2 run rosbot_utils flash_firmware --robot-model <rosbot/rosbot_xl>
exit

Simulation:

source install/setup.bash
ros2 launch rosbot_gazebo simulation.launch.py robot_model:=<rosbot/rosbot_xl>

Launch Arguments

Symbol Meaning
🤖 Available for physical robot
🖥️ Available in simulation

| 🤖 | 🖥️ | Argument | Description
Type: Default | | — | — | ——————- | ————————————————————————————————————————————————————————————————– |

File truncated at 100 lines see the full file

CONTRIBUTING

Developer info and tools

USB-A connection

You can connect with the ROSbot hardware on your own computer. To establish a connection, connect your computer to the robot using a USB-A cable. Then build the code locally and specify via the serial_port argument which processor should be used to establish the connection.

ros2 launch rosbot_bringup bringup.launch.py serial_port:=/dev/ttyUSB0

The hardware checks the connection via USB-A only during initialization and when btn1 or btn2 is pressed, so while executing the above command, hold down the reset button together with bnt1/bnt2 and release the reset button. After establishing a connection, you can release bnt1/bnt2.

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.

# Developer info and tools ## USB-A connection You can connect with the ROSbot hardware on your own computer. To establish a connection, connect your computer to the robot using a USB-A cable. Then build the code locally and specify via the serial_port argument which processor should be used to establish the connection. ```bash ros2 launch rosbot_bringup bringup.launch.py serial_port:=/dev/ttyUSB0 ``` The hardware checks the connection via USB-A only during initialization and when btn1 or btn2 is pressed, so while executing the above command, hold down the reset button together with bnt1/bnt2 and release the reset button. After establishing a connection, you can release bnt1/bnt2. ## pre-commit [pre-commit configuration](.pre-commit-config.yaml) prepares plenty of tests helping for developing and contributing. Usage: ```bash # 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](.pre-commit-config.yaml) will applied on every commit.
No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

rosbot_ros repository

rosbot rosbot_bringup rosbot_controller rosbot_description rosbot_gazebo rosbot_hardware_interfaces rosbot_joy rosbot_localization rosbot_utils

ROS Distro
humble

Repository Summary

Description
Checkout URI https://github.com/husarion/rosbot_ros.git
VCS Type git
VCS Version humble
Last Updated 2025-12-09
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
rosbot 0.15.2
rosbot_bringup 0.15.2
rosbot_controller 0.15.2
rosbot_description 0.15.2
rosbot_gazebo 0.15.2
rosbot_hardware_interfaces 0.15.2
rosbot_joy 0.15.2
rosbot_localization 0.15.2
rosbot_utils 0.15.2

README

ROSbot ROS

ROS 2 packages for Husarion ROSbot Series.

ROSbot ROSbot XL

📚 ROS API

Documentation is available in ROS_API.md.

🚀 Quick Start

⚙️ Prerequisites

  1. Install all necessary tools:
   sudo apt-get update
   sudo apt-get install -y python3-pip ros-dev-tools
  1. Create a workspace folder and clone the rosbot_ros repository:
   mkdir rosbot_ws
   cd rosbot_ws
   git clone -b humble https://github.com/husarion/rosbot_ros.git src/rosbot_ros

Configure environment

The repository is used to run the code both on the real robot and in the simulation. Specify HUSARION_ROS_BUILD_TYPE the variable according to your needs.

Real robot:

export HUSARION_ROS_BUILD_TYPE=hardware

Simulation:

export HUSARION_ROS_BUILD_TYPE=simulation

Build

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

vcs import src < src/rosbot_ros/rosbot/rosbot_${HUSARION_ROS_BUILD_TYPE}.repos
vcs import src < src/rosbot_ros/rosbot/manipulator.repos # For ROSbot XL manipulation package

sudo rosdep init
rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y

colcon build --symlink-install --packages-up-to rosbot --cmake-args -DCMAKE_BUILD_TYPE=Release

Run the Robot

For ROSbot XL, you can specify a particular configuration using the launch configuration argument. If you are using the manipulation configuration, please refer to MANIPULATOR.md for detailed instructions.

Real robot:

source install/setup.bash
ros2 launch rosbot_bringup bringup.launch.py robot_model:=<rosbot/rosbot_xl>

[!NOTE] To run the software on real ROSbots, communication with the CORE2 is required. Ensure the firmware is updated before running the micro-ROS agent. For detailed instructions, refer to the rosbot_ros2_firmware repository.

sudo su
source install/setup.bash
ros2 run rosbot_utils flash_firmware --robot-model <rosbot/rosbot_xl>
exit

Simulation:

source install/setup.bash
ros2 launch rosbot_gazebo simulation.launch.py robot_model:=<rosbot/rosbot_xl>

Launch Arguments

Symbol Meaning
🤖 Available for physical robot
🖥️ Available in simulation

| 🤖 | 🖥️ | Argument | Description
Type: Default | | — | — | ——————- | ————————————————————————————————————————————————————————————————– |

File truncated at 100 lines see the full file

CONTRIBUTING

Developer info and tools

USB-A connection

You can connect with the ROSbot hardware on your own computer. To establish a connection, connect your computer to the robot using a USB-A cable. Then build the code locally and specify via the serial_port argument which processor should be used to establish the connection.

ros2 launch rosbot_bringup bringup.launch.py serial_port:=/dev/ttyUSB0

The hardware checks the connection via USB-A only during initialization and when btn1 or btn2 is pressed, so while executing the above command, hold down the reset button together with bnt1/bnt2 and release the reset button. After establishing a connection, you can release bnt1/bnt2.

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.

# Developer info and tools ## USB-A connection You can connect with the ROSbot hardware on your own computer. To establish a connection, connect your computer to the robot using a USB-A cable. Then build the code locally and specify via the serial_port argument which processor should be used to establish the connection. ```bash ros2 launch rosbot_bringup bringup.launch.py serial_port:=/dev/ttyUSB0 ``` The hardware checks the connection via USB-A only during initialization and when btn1 or btn2 is pressed, so while executing the above command, hold down the reset button together with bnt1/bnt2 and release the reset button. After establishing a connection, you can release bnt1/bnt2. ## pre-commit [pre-commit configuration](.pre-commit-config.yaml) prepares plenty of tests helping for developing and contributing. Usage: ```bash # 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](.pre-commit-config.yaml) will applied on every commit.