rosbot-xl-mapping

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

Quick Start (real robot)

PC

Clone this repository:

git clone https://github.com/husarion/rosbot-xl-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 configs in .env file:

LIDAR_SERIAL=/dev/ttyRPLIDAR

# for RPLIDAR A2M8:
# LIDAR_BAUDRATE=115200
# for RPLIDAR A2M12 and A3:
LIDAR_BAUDRATE=256000

DDS_CONFIG=DEFAULT
# DDS_CONFIG=HUSARNET_SIMPLE_AUTO

RMW_IMPLEMENTATION=rmw_fastrtps_cpp
# RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

MECANUM=True
# MECANUM=False

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.
• With DDS_CONFIG=DEFAULT your robot and laptop need to be in the same LAN network. If you want to use this demo over the Internet, set DDS_CONFIG=HUSARNET_SIMPLE_AUTO and enable Husarnet on ROSbot XL and you PC.

Sync a workspace with ROSbot XL:

./sync_with_rosbot.sh <ROSbot_XL_IP>

Open 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 os being saved automatically in the rosbot-xl-mapping/maps folder.

With the gamepad connected to PC

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

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 rviz bash

Now, to teleoperate the ROSbot XL 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 run --rm -it --privileged \
husarion/rosbot-xl:humble \
flash-firmware.py -p /dev/ttyUSB0

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

docker compose -f compose.rosbot.yaml up

Quick Start (Gazebo simulation)

Prerequisites

The compose.sim.gazebo.yaml file uses NVIDIA Container Runtime. Make sure you have NVIDIA GPU and the NVIDIA Container Toolkit installed. This project has been tested on the following setup:

$ docker compose version
Docker Compose version 2.17.0
$ docker --version
Docker version 23.0.1, build a5ee5b1dfc

Additionally, the compose.sim.gazebo.yaml file in this project uses NVIDIA Container Runtime. So, please make sure that you have an NVIDIA GPU and the NVIDIA Container Toolkit installed on your system before moving forward. Start the containers in a new terminal:

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

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

docker exec -it rviz bash

And inside the running container shell execute:

ros2 run teleop_twist_keyboard teleop_twist_keyboard

Map will be automatically saved every 5 seconds.