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rosbot_ros repository

rosbot_ros repository

rosbot_ros repository

rosbot_ros repository

rosbot rosbot_bringup rosbot_controller rosbot_description rosbot_gazebo rosbot_utils

Repository Summary

Checkout URI https://github.com/husarion/rosbot_ros.git
VCS Type git
VCS Version jazzy
Last Updated 2025-03-19
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
rosbot 0.13.2
rosbot_bringup 0.13.2
rosbot_controller 0.13.2
rosbot_description 0.13.2
rosbot_gazebo 0.13.2
rosbot_utils 0.13.2

README

Rosbot ROS

ROS 2 packages for Husarion ROSbot series.

ROSbot

📚 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 -p ros2_ws
    cd ros2_ws
    git clone -b jazzy https://github.com/husarion/rosbot_ros src/rosbot_ros

🤖 Hardware

Building

export HUSARION_ROS_BUILD_TYPE=hardware

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

vcs import src < src/rosbot_ros/rosbot/rosbot_hardware.repos
cp -r src/ros2_controllers/diff_drive_controller src/
cp -r src/ros2_controllers/imu_sensor_broadcaster src/
rm -rf src/ros2_controllers
rm -r src/rosbot_ros/rosbot_gazebo

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

  1. Flash the firmware:
    sudo su
    source install/setup.bash
    ros2 run rosbot_utils flash_firmware
    exit

[!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.

  1. Launch the robot:
    source install/setup.bash
    ros2 launch rosbot_bringup bringup.launch.py

🖥️ Simulation

Building

export HUSARION_ROS_BUILD_TYPE=simulation

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

vcs import src < src/rosbot_ros/rosbot/rosbot_simulation.repos
cp -r src/ros2_controllers/diff_drive_controller src/
cp -r src/ros2_controllers/imu_sensor_broadcaster src/
rm -rf src/ros2_controllers

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

Run the Simulation

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

Launch Arguments

Symbol Meaning
🤖 Available for physical robot
🖥️ Available in simulation
🤖 🖥️ Argument Description
Type: Default
✅ ✅ namespace Namespace for all topics and tfs.
string: env(ROBOT_NAMESPACE)
✅ ❌ mecanum Whether to use mecanum drive controller (otherwise diff drive controller is used).
bool: False
✅ ❌ microros Automatically connect with hardware using microros.
bool: True
✅ ❌ serial_baudrate Baud rate for serial communication .
string: 576000
✅ ❌ serial_port Automatically connect with hardware using microros.
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
❌ ✅ robots Spawning multiple robots at positions with yaw orientations e.g.robots:=’robot1={x: 0.0, y: -1.0}; robot2={x: 1.0, y: -1.0};’
string: ''
❌ ✅ 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.

CONTRIBUTING

Developer info and tools

USB-A connection

You can connect to the robot 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.

Industrial CI

colcon test

[!NOTE] Command colcon test does not build the code. Remember to build your code after changes.

If tests finish with errors print logs:

colcon test-result --verbose

Testing .github/workflows/industrial_ci.yaml Locally

At fist install act:

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

And test the workflow with:

act -W .github/workflows/industrial_ci.yaml

rosbot_ros repository

rosbot_ros repository

rosbot_ros repository

rosbot_ros repository

rosbot_ros repository

rosbot_ros repository

rosbot_ros repository

rosbot_ros repository

rosbot_ros repository

rosbot_ros repository

rosbot_ros repository

rosbot_ros repository

rosbot_ros repository

rosbot_ros repository

rosbot_ros repository