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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 2026-04-29
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
rosbot 1.0.0
rosbot_bringup 1.0.0
rosbot_controller 1.0.0
rosbot_description 1.0.0
rosbot_gazebo 1.0.0
rosbot_hardware_interfaces 1.0.0
rosbot_joy 1.0.0
rosbot_localization 1.0.0
rosbot_moveit 1.0.0
rosbot_utils 1.0.0

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 <rosbot/rosbot_xl>.yaml

[!NOTE] The ROSbot ROS Driver is strongly dependent on the firmware version. If you change driver version or ROS distro, ensure the firmware is compatible. Firmware can be updated with the flash_firmware script.

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

Simulation:

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

[!TIP] You can spawn multiple robots in the simulation. To do that, run the launch file multiple times with different namespaces and initial positions (x, y, z). For example:

source install/setup.bash
ros2 launch rosbot_gazebo spawn_robot.yaml robot_model:=<rosbot/rosbot_xl> namespace:=robot1 x:=0 y:=0

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

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 rosbot.yaml serial_port:=/dev/rosbot

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 rosbot.yaml serial_port:=/dev/rosbot ``` 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 2026-04-29
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
rosbot 1.0.0
rosbot_bringup 1.0.0
rosbot_controller 1.0.0
rosbot_description 1.0.0
rosbot_gazebo 1.0.0
rosbot_hardware_interfaces 1.0.0
rosbot_joy 1.0.0
rosbot_localization 1.0.0
rosbot_moveit 1.0.0
rosbot_utils 1.0.0

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 <rosbot/rosbot_xl>.yaml

[!NOTE] The ROSbot ROS Driver is strongly dependent on the firmware version. If you change driver version or ROS distro, ensure the firmware is compatible. Firmware can be updated with the flash_firmware script.

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

Simulation:

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

[!TIP] You can spawn multiple robots in the simulation. To do that, run the launch file multiple times with different namespaces and initial positions (x, y, z). For example:

source install/setup.bash
ros2 launch rosbot_gazebo spawn_robot.yaml robot_model:=<rosbot/rosbot_xl> namespace:=robot1 x:=0 y:=0

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

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 rosbot.yaml serial_port:=/dev/rosbot

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 rosbot.yaml serial_port:=/dev/rosbot ``` 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.