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 -p ros2_ws
   cd ros2_ws
   git clone 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

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.

2. 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_hardware.repos
vcs import src < src/rosbot_ros/rosbot/rosbot_simulation.repos

# Build only imu_sensor_broadcaster from ros2_controllers
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.