ROSbot ROS

ROS 2 packages for Husarion ROSbot Series.

📚 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 stm32flash
   

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
   

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

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 --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

File truncated at 100 lines see the full file

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.