frl_rosbot_onboard

This package is developed to be implemented on the physical robot Husarian ROSbot Pro.

It is a CMake ROS 2 package, tested on foxy.

Installation

Prepare the ROSbot 2 Pro

Install the system files following the instructions at https://husarion.com/manuals/rosbot/operating-system-reinstallation/.

Install the package from source

Clone the package into your workspace and build it.

cd $YOUR_WORKSPACE/src
git clone https://github.com/ma-shangao/frl_rosbot_onboard.git
cd ..
colcon build --symlink-install

Dependencies

This package relies on the packages integrated in the system files at https://robot-os-images.s3.eu-central-1.amazonaws.com/ros-foxy-upboard-2022-08-23.iso

Other dependecies are specified in package.xml. You can install them by running

cd $YOUR_WORKSPACE
rosdep update
rosdep install --from-paths . --ignore-src -y -r

If this is your first time to run this command, you may need to run sudo rosdep init first.

Features

Robot state publisher

This package rewrapped the robot description for Husarian ROSbot 2 Pro in launch/robot_state_publisher_launch.py.

Bringing up the whole robot

We provided the launch/frl_rosbot_bringup_launch.py to bringup everything you need from the robot, such as sensors, actuators and robot description.

Simply launch the robot by:

ros2 launch frl_rosbot_onboard frl_rosbot_bringup_launch.py

Basic navigation functions

We also provided an example for robot localisation and waypoint following in an mapped environment based on nav2.

Simulation

For instructions of the simulated ROSbot 2 Pro, please refer to: https://github.com/husarion/rosbot_description/tree/foxy.

Known limitations

• The depth camera pointcloud registration is currently not available on ROS 2 for Husarian ROSbot Pro.

Licence

This work is licenced under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.