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

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

Build

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

# Optional: speed up build by removing unnecessary packages
# For hardware build only, remove simulation package:
# rm -rf src/rosbot_ros/rosbot_gazebo
# For simulation build only, remove hardware package:
# rm -rf src/rosbot_ros/rosbot_bringup

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 --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 <rosbot/rosbot_xl>.yaml

Note

The ROSbot ROS Driver is strongly dependent on the firmware version. If you change driver version or ROS distro, ensure the firmware is compatible. Firmware can be updated with the flash_firmware script.

source install/setup.bash
ros2 run rosbot_utils flash_firmware --robot-model <rosbot/rosbot_xl>

Simulation:

source install/setup.bash
ros2 launch rosbot_gazebo simulation.yaml robot_model:=<rosbot/rosbot_xl>

Tip

You can spawn multiple robots in the simulation. To do that, run the launch file multiple times with different namespaces and initial positions (x, y, z). For example:

source install/setup.bash
ros2 launch rosbot_gazebo spawn_robot.yaml robot_model:=<rosbot/rosbot_xl> namespace:=robot1 x:=0 y:=0

Launch Arguments

Symbol	Meaning
🤖	Available for physical robot
🖥️	Available in simulation

🤖	🖥️	Argument	Description Type: Default
✅	✅	arm_activate	Whether to activate the manipulator arm on startup.. bool: False (True for simulation)
✅	✅	config_dir	Path to the common configuration directory. You can create such common configuration directory with ros2 run rosbot_utils create_config_dir {directory}. string: ""
✅	✅	configuration	Specify configuration packages. Currently only ROSbot XL has available packages. Packages: basic, telepresence, autonomy, manipulation, manipulation_pro, custom. string: basic
✅	✅	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) (choices: rosbot, rosbot_xl)
✅	❌	manipulator_serial_port	Port to connect to the manipulator. string: /dev/ttyUSB0
✅	❌	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
✅	✅	tf_namespace_bridge	Bridge robot's namespaced TF to the global /tf and /tf_static. Only active when namespace is set. bool: True
❌	✅	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 launch files, add the -s flag to the ros2 launch command (e.g. ros2 launch <pkg> <launch> ​​-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.