rosbot-xl-snap

This snap packages the rosbot_xl_ros package. It thus conveniently offers all the ROS 2 stack necessary to bring up the ROSbot-XL robot, including IMU driver, robot state publisher, joint state publisher, controllers and more.

Installation

Install the snap as follows,

snap install rosbot-xl

Parameters

$ sudo snap get rosbot-xl
Key                 Value
driver              {...}
ros-domain-id       123
ros-localhost-only  0
serial-port         auto
transport           udp
webui               {...}

ROS Driver

Parameters for rosbot_xl_ros ROS 2 driver available from the snap level are:

Key                          Value
driver.camera-model          (unset)
driver.include-camera-mount  True
driver.mecanum               True
driver.lidar-model           (unset)
driver.namesapce             (unset)

which can be set as follows, e.g.,

snap set rosbot-xl driver.mecanum=True

Web UI

Key           Value
webui.layout  sensors
webui.port    8080

The snap has a built-in Web UI that can be launched with:

sudo rosbot-xl.start-web-ui

By default the UI is available under http://<ROSBOT_IP>:8080/ui.

Built-in layouts are available here:

• /var/snap/rosbot-xl/common/foxglove-default.json
• /var/snap/rosbot-xl/common/foxglove-sensors.json

If you want to save your own custom layout, save it in the same directory, eg. in /var/snap/rosbot-xl/common/foxglove-myui.json file.

To select the layout run:

sudo snap set rosbot-xl webui.layout=myui

Working With Parameters

# set params in rosbot-xl snap
sudo snap set rosbot-xl transport=udp ros-domain-id=123 driver.namespace=abc

# mirror the setup for other snaps running ROS 2:
sudo snap set husarion-depthai $(cat /var/snap/rosbot-xl/common/ros_snap_args)
sudo snap set husarion-rplidar $(cat /var/snap/rosbot-xl/common/ros_snap_args)

# to setup the current shell with the same configs:
source /var/snap/rosbot-xl/common/ros.env

# ... or install configs with
/var/snap/rosbot-xl/common/manage_ros_env.sh
# and after changing rosbot-xl params open a new terminal, or run:
source ~/.bashrc

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap __ns:=/${ROS_NAMESPACE}

Custom DDS Transport

If you want to use a custom FastDDS transport place it under the /var/snap/rosbot-xl/common/ path (eg. /var/snap/rosbot-xl/common/my-fastdds.xml), and set the parameter:

sudo snap set rosbot-xl transport=my-fastdds

STM32 Firmware flashing

sudo snap set rosbot-xl serial-port=/dev/ttyUSB0 # 'auto' is default option - the serial port to which the digital board is connected
sudo rosbot-xl.flash

Logs

To display logs from the ROS 2 node:

sudo snap logs rosbot-xl

To display logs from a snap logger

journalctl -t rosbot-xl

Note This snap is part of an integrated snaps deployment.

Other recommended snaps to be installed are,

• husarion-rplidar
• husarion-depthai
• rosbot-xl-teleop
• rosbot-xl-nav