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

2. 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

Symbol	Meaning
🤖	Available for physical robot
🖥️	Available in simulation

🤖	🖥️	Argument	Description Type: Default
✅	✅	components_config	Specify file which contains components. These components will be included in URDF. Available options can be found in husarion_components_description string: components.yaml
✅	✅	configuration	Specify configuration packages. Currently only ROSbot XL has available packages. Packages: basic, telepresence, autonomy, manipulation, manipulation_pro. string: 'basic'
✅	✅	controller_config	Path to controller configuration file. string: {robot_model}/{mecanum/diff}_drive_controller.yaml
✅	✅	joy_config	The file path to the configuration YAML file for the teleop_twist_joy node. string: joy.yaml
✅	✅	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_NAME) (choices: rosbot, rosbot_xl)
✅	❌	manipulator_serial_port	Port to connect to the manipulator. string: 8888
✅	❌	microros	Automatically connect with hardware using microros. bool: True
✅	❌	port	ROSbot XL only. UDP4 port for micro-ROS agent. string: 8888
✅	❌	serial_baudrate	ROSbot only. Baud rate for serial communication. string: 576000
✅	❌	serial_port	ROSbot only. Serial port for micro-ROS agent. string: /dev/ttySERIAL
✅	❌	fastrtps_profiles	Path to the Fast RTPS default profiles file for Micro-ROS agent for localhost only setup. string: microros_localhost_only.xml
❌	✅	gz_gui	Run simulation with specific GUI layout. string: teleop.config
❌	✅	gz_headless_mode	Run the simulation in headless mode. Useful when a GUI is not needed or to reduce the number of calculations. bool: False
❌	✅	gz_log_level	Adjust the level of console output. int: 1 (choices: 0, 1, 2, 3, 4)
❌	✅	gz_world	Absolute path to SDF world file. string: husarion_world.sdf
❌	✅	rviz	Run RViz simultaneously. bool: True
❌	✅	x	Initial robot position in the global 'x' axis. float: 0.0
❌	✅	y	Initial robot position in the global 'y' axis. float: 2.0
❌	✅	z	Initial robot position in the global 'z' axis. float: 0.0
❌	✅	roll	Initial robot 'roll' orientation. float: 0.0
❌	✅	pitch	Initial robot 'pitch' orientation. float: 0.0
❌	✅	yaw	Initial robot 'yaw' orientation. float: 0.0

Tip

To read the arguments for individual packages, add the -s flag to the ros2 launch command (e.g. ros2 launch rosbot_bringup bringup.launch.py ​​-s)

🕹️ Demo

Explore demos showcasing the capabilities of ROSbots:

📎 Link	📖 Description
rosbot-telepresence	Stream live video from Orbbec Astra to a PC and control the robot using teleop-twist-keyboard
rosbot-autonomy	Enables simultaneous mapping and navigation, allowing the robot to move in unknown environments.