Rosbot ROS

ROS2 packages for ROSbot 2R and ROSbot 2 PRO.

ROS packages

rosbot

Metapackage that contains dependencies to other repositories.

rosbot_bringup

Package that contains launch, which starts all base functionalities. Also configuration for robot_localization and ros2_controllers are defined there.

rosbot_description

URDF model used as a source of transforms on the physical robot. It was written to be compatible with ROS Industrial and preconfigured for ROS2 control.

rosbot_gazebo

Launch files for Ignition Gazebo working with ROS2 control.

rosbot_controller

ROS2 hardware controllers configuration for ROSbots.

ROS API

Available in ROS_API.md

Usage on hardware

To run the software on real ROSbot 2R, 2 PRO, also communication with the CORE2 will be necessary. First update your firmware to make sure that you use the latest version, then run the micro-ROS agent. For detailed instructions refer to the rosbot_ros2_firmware repository.

Source build

Prerequisites

Install all necessary tools:

sudo apt-get update
sudo apt-get install -y python3-pip ros-dev-tools stm32flash

Create workspace folder and clone rosbot_ros repository:

mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/rosbot_ros src/

Build and run on hardware

Building:

export HUSARION_ROS_BUILD=hardware

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

vcs import src < src/rosbot/rosbot_hardware.repos

# Build only diff_drive_controller and imu_sensor_broadcaster from ros2_controllers
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_gazebo

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

Flash firmware:

source install/setup.bash
ros2 run rosbot_utils flash_firmware

Running:

source install/setup.bash
ros2 launch rosbot_bringup combined.launch.py

Build and run Gazebo simulation

Prerequisites:

[!TIP] The default version of Gazebo Ignition will be installed with the instructions below. If you want to install a different version of the simulator, it is necessary to:

• Check compatible versions of ROS 2 and Gazebo in this table
• Install the appropriate version,

• Add the GZ_VERSION environment variable appropriate to your version

  export GZ_VERSION=fortress

If you have installed multiple versions of Gazebo use the global variable to select the correct one:

export GZ_VERSION=fortress

Building:

export HUSARION_ROS_BUILD=simulation

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

vcs import src < src/rosbot/rosbot_hardware.repos
vcs import src < src/rosbot/rosbot_simulation.repos

# Build only diff_drive_controller and imu_sensor_broadcaster from ros2_controllers
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 --cmake-args -DCMAKE_BUILD_TYPE=Release

Running:

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

Developer info

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

Format python code with Black

cd src/
black rosbot*

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

Demo