Important

This repo is deprecated. Visit https://github.com/husarion/rosbot-autonomy instead.

rosbot-mapping

Create a map of the unknow environment with ROSbot 2 PRO or ROSbot 2R controlled in the LAN network or over the Internet.

PC

Clone this repository:

git clone https://github.com/husarion/rosbot-mapping.git

Connect a gamepad to USB port of your PC/laptop (the steering without the gamepad will also be described as an alternative).

Check your hardware configs in the .env file:

# =======================================
# Hardware config
# =======================================
LIDAR_SERIAL=/dev/ttyUSB0

# for RPLIDAR A2M8 (red circle around the sensor):
# LIDAR_BAUDRATE=115200
# for RPLIDAR A2M12 and A3 (violet circle around the sensor):
LIDAR_BAUDRATE=256000           

Notes:

• Usually RPLIDAR is listed under /dev/ttyUSB0, but verify it with ls -la /dev/ttyUSB* command.
• If you have RPLIDAR A3 or A2M12 (with violet border around the lenses) set: LIDAR_BAUDRATE=256000. Otherwise (for older A2 LIDARs): LIDAR_BAUDRATE=115200.

Select your network configuration in the net.env file:

# =======================================
# Network config options (uncomment one)
# =======================================

# 1. Fast DDS + LAN
RMW_IMPLEMENTATION=rmw_fastrtps_cpp

# 2. Cyclone DDS + LAN
# RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

# 3. Fast DDS + VPN
# RMW_IMPLEMENTATION=rmw_fastrtps_cpp
# FASTRTPS_DEFAULT_PROFILES_FILE=/husarnet-fastdds.xml

# 4. Cyclone DDS + VPN
# RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# CYCLONEDDS_URI=file:///husarnet-cyclonedds.xml         

Notes:

• Husarion's docker images utilize the husarnet-dds binary to create ROS 2 DDS configuration files for Husarnet VPN.

To sync workspace with ROSbot (works with the newest OS images) execute (in rosbot-mapping directory):

./sync_with_rosbot.sh <ROSbot_ip>

Open a new terminal on PC and run RViz depending on whether you have a gamepad or not. Then you will be able to control the ROSbot and create map of the environment. The map is being saved automatically in the rosbot-mapping/maps folder.

Option 1: With the gamepad connected to PC

xhost +local:docker && \
docker compose -f compose.pc.yaml up

Option 2: Without the gamepad

xhost +local:docker && \
docker compose -f compose.pc.yaml up -d map-saver rviz

Then enter the running rviz container:

docker exec -it rosbot-mapping-rviz-1 bash

Now, to teleoperate the ROSbot with your keyboard, execute:

ros2 run teleop_twist_keyboard teleop_twist_keyboard

ROSbot

Firmware version

Before running the project, make sure you have the correct version of a firmware flashed on your robot.

Firmware flashing command (run in the ROSbot's terminal)

docker stop rosbot microros || true && docker run \
--rm -it --privileged \
husarion/rosbot:humble \
/flash-firmware.py /root/firmware.bin

In the ROSbot's terminal execute (in /home/husarion/rosbot-mapping directory):

docker compose -f compose.rosbot.yaml up

Quick Start (Webots simulation)

Prerequisites

The compose.sim.webots.yaml file uses NVIDIA Container Runtime. Make sure you have NVIDIA GPU and the NVIDIA Container Toolkit installed.

Start the containers in a new terminal:

xhost +local:docker && \
docker compose -f compose.sim.webots.yaml up

And in the second terminal start telop-twist-keyboard for manual ROSbot 2R control:

docker exec -it rviz bash

And inside the running container shell execute:

ros2 run teleop_twist_keyboard teleop_twist_keyboard