demo

Demo

Docker Compose yaml configurations from this folder present how to run autonomous mapping and navigation demo with ROSbot Navigation2 and Slam Toolbox.

There are two phases:

1. Creating a map - navigation and creating a map by using slam-toolbox
2. Localization on an already created map - Navigation based on created map - with AMCL

Both cases are presented in three setups:

1. In a Local Area Network (LAN) - the robot running navigation stack and PC / laptop running RViz are in the same Wi-Fi network.
2. Over the Internet (VPN) - the robot and the laptop can be in separate networks.
3. Gazebo simulation.

Prerequisites

Make sure you have Docker and Docker-Compose installed on your laptop.

If you don't have, here's a quick summary for Ubuntu 20.04 (just click the copy button, and paste it to the Linux terminal):

sudo apt-get update && sudo apt-get install -y ca-certificates curl gnupg lsb-release

sudo mkdir -p /etc/apt/keyrings

curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg

echo \
 "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu \
 $(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null

sudo apt-get update && sudo apt-get install -y docker-ce docker-ce-cli containerd.io docker-compose-plugin

Change /var/run/docker.sock permissions, so every user can can run docker commands without sudo:

sudo chmod 666 /var/run/docker.sock

Quick start (with a physical ROSbot)

1. Clone this repo on your laptop

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

2. Prepare demo/.env file

cd rosbot-docker/demo
cp .env.template .env

modify it if needed (see comments)

Warning

Make sure you have Docker Compose with at least v2.3.0 version installed on your PC/laptop

$ docker compose version
Docker Compose version v2.3.3

Inline comments in .env files are supported from this version

# ======================================================
# SBC <> STM32 serial connection.
# ======================================================

# SERIAL_PORT=/dev/ttyS1     # ROSbot 2
# SERIAL_PORT=/dev/ttyS4     # ROSbot 2 PRO
SERIAL_PORT=/dev/ttyAMA0   # ROSbbot 2R

# ======================================================
# Serial baudrate for rplidar driver
# ======================================================

RPLIDAR_BAUDRATE=115200     # RPLIDAR A2
# RPLIDAR_BAUDRATE=256000     # RPLIDAR A3

# ======================================================
# For simulation example you need to use simulation time
# ======================================================

USE_SIM_TIME=False      # for a physical ROSbot
# USE_SIM_TIME=True       # for a Gazebo simulation

# ======================================================
# Uncomment for compose.*.vpn.yaml files and paste 
# your own Husarnet Join Code from app.husarnet.com here:
# ======================================================

# JOINCODE=fc94:b01d:1803:8dd8:b293:5c7d:7639:932a/xxxxxxxxxxxxxxxxxxxxxx

If you have other ROS 2 devices running in your LAN network make sure to provide an unique ROS_DOMAIN_ID (the default value is ROS_DOMAIN_ID=0) and select the right SERIAL_PORT depending on your ROSbot version (ROSbot 2 / ROSbot 2 PRO / ROSbot 2R). Note that if you run the demo example in a simulation then SERIAL_PORT is ignored, but it is necessary to define the USE_SIM_TIME variable to True.

3. Sync your workspace with the ROSbot

Prerequisites

Install unison, inotify-tools and rsync:

sudo sudo apt-get update && sudo apt-get install -y unison inotify-tools rsync

In the demo/ folder, there is a script for auto-syncing of this repo with your ROSbot (so you can clone this repo only on your laptop).

If IP address of your robot in LAN is 10.5.10.64, run (it uses rsync for synchronization):

./sync_with_rosbot.sh 10.5.10.64

In order to allow changes on ROSbot to affect demo directory on your PC (for example for viewing saved map) use --bidirectional flag (it uses unison for that):

./sync_with_rosbot.sh 10.5.10.64 --bidirectional

4. Flash the microcontroller

To flash the right firmware, open ROSbot's terminal or connect via ssh and execute this command:

• for differential drive (regular wheels):

docker run --rm -it --privileged \
husarion/rosbot:noetic \
/flash-firmware.py /root/firmware_diff.bin

• for omnidirectional wheeled ROSbot (mecanum wheels):

docker run --rm -it --privileged \
husarion/rosbot:noetic \
/flash-firmware.py /root/firmware_mecanum.bin

5. [Optional] VPN config

If in the next steps you want to run VPN configuration get your Husarnet Join Code and paste it as a value for JOINCODE environment variable in the .env file.

You will find your Husarnet Join Code on your account at Husarnet Dashboard:

1. Log in to https://app.husarnet.com/
2. Select or create a network
3. Click [Add element] button and select a Join Code tab:

In this example, Husarnet P2P VPN is used for providing over the Internet connectivity. Default DDS discovery using multicasting doesn't work over VPN, therefore IPv6 addresses provided by Husarnet need to be applied to a peer list in a dds-config.xml file. To do not copy those IPv6 addresses there is a simple utility script that does it for you. Everything you need to do is to launch it ONLY ONCE and make sure to have THE SAME secret/ on both devices:

Execute this command in the Linux terminal

./generate-vpn-config.sh

6. Create a map

Enabling a display

In order to use GUI of applications running in containers (like rviz) run:

xhost local:root

on your PC, before starting the containers

Depending on the network configuration (LAN/VPN) execute the chosen pair of commands in the PC and ROSbot's terminal:

	LAN	VPN
PC / laptop	docker compose \ -f compose.rviz.yaml \ -f compose.rviz.lan.yaml \ up	docker compose \ -f compose.rviz.yaml \ -f compose.rviz.vpn.yaml \ up
ROSbot	docker compose \ -f compose.rosbot.hardware.yaml \ -f compose.rosbot.mapping.yaml \ -f compose.rosbot.lan.yaml \ up	docker compose \ -f compose.rosbot.hardware.yaml \ -f compose.rosbot.mapping.yaml \ -f compose.rosbot.vpn.yaml \ up

After about 35 seconds, you should see the ROSbot model in the Rviz window:

Prepare map with Rviz2 using the [Nav2 Goal] button on the top bar.

After you create the map, open a new terminal on ROSbot, navigate to demo/ folder and execute:

./map-save.sh

Your map has been saved in docker volume and is available in the maps/ folder.

Mapping phase is completed, you can stop / remove all running containers on ROSbot.

7. Localization on an already created map

Depending on the network configuration (LAN/VPN) execute the chosen pair of commands in the PC or ROSbot's terminal:

	LAN	VPN
PC / laptop	docker compose \ -f compose.rviz.yaml \ -f compose.rviz.lan.yaml \ up	docker compose \ -f compose.rviz.yaml \ -f compose.rviz.vpn.yaml \ up
ROSbot	docker compose \ -f compose.rosbot.hardware.yaml \ -f compose.rosbot.localization.yaml \ -f compose.rosbot.lan.yaml \ up	docker compose \ -f compose.rosbot.hardware.yaml \ -f compose.rosbot.localization.yaml \ -f compose.rosbot.vpn.yaml \ up

After about 35 seconds, you should see the ROSbot model in the Rviz window in a random place on the map you have previously created:

By using the [2D Pose Estimate] button manualy tell the ROSbot where on the existing map is its starting position:

and tell the ROSbot where to go autonomously with [Nav2 Goal] button.

Quick start (simulation model of ROSbot in Gazebo)

1. Clone this repo on your laptop

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

2. Prepare demo/.env file

cd rosbot-docker/demo
cp .env.template .env

modify it if needed (see comments)

# ======================================================
# SBC <> STM32 serial connection.
# ======================================================

# SERIAL_PORT=/dev/ttyS1     # ROSbot 2
# SERIAL_PORT=/dev/ttyS4     # ROSbot 2 PRO
SERIAL_PORT=/dev/ttyAMA0   # ROSbbot 2R

# ======================================================
# Serial baudrate for rplidar driver
# ======================================================

RPLIDAR_BAUDRATE=115200     # RPLIDAR A2
# RPLIDAR_BAUDRATE=256000     # RPLIDAR A3

# ======================================================
# For simulation example you need to use simulation time
# ======================================================

# USE_SIM_TIME=False      # for a physical ROSbot
USE_SIM_TIME=True       # for a Gazebo simulation

# ======================================================
# Uncomment for compose.*.vpn.yaml files and paste 
# your own Husarnet Join Code from app.husarnet.com here:
# ======================================================

# JOINCODE=fc94:b01d:1803:8dd8:b293:5c7d:7639:932a/xxxxxxxxxxxxxxxxxxxxxx

3. Create a map

On your PC with launch:

xhost local:root

docker compose \
-f compose.rosbot.simulation.yaml \
-f compose.rosbot.mapping.yaml \
-f compose.rviz.yaml \
up

In the Rviz2 window, click the [Startup] button in the "Navigation 2" field.

Prepare a map with Rviz2 by driving the ROSbot around using the [Nav2 Goal] button.

After you create the map, open a new terminal on ROSbot, navigate to demo/ folder and execute:

./map-save.sh

4. Localization on an already created map

Next launch Navigation2 stack with AMLC:

xhost local:root

docker compose \
-f compose.rosbot.simulation.yaml \
-f compose.rosbot.localization.yaml \
-f compose.rviz.yaml \
up 

By using the [2D Pose Estimate] button manualy tell the ROSbot where on the existing map is its starting position and tell the ROSbot where to go autonomously by using the [Nav2 Goal] button.