rosbot_description

Simulation model for Gazebo integrated with ROS 2.

Installation.

We assume that you are working on Ubuntu 20.04 and already have installed ROS Foxy. If not, follow the ROS install guide

Prepare the repository (more about building packages):

mkdir ~/ros2_workspace
mkdir ~/ros2_workspace/src
cd ~/ros2_workspace
colcon build --symlink-install

Above commands should execute without any warnings or errors.

Clone ros2 branch of this repository to your workspace :

cd ~/ros2_workspace/src
git clone --single-branch --branch foxy https://github.com/husarion/rosbot_description.git

Clone ros2 branch of forked rplidar_ros repository to your workspace :

cd ~/ros2_workspace/src
git clone --single-branch --branch ros2 https://github.com/lukaszmitka/rplidar_ros.git

Install depencencies:

cd ~/ros2_workspace
rosdep install --from-paths src --ignore-src -r -y

Build the workspace:

cd ~/ros2_workspace
colcon build --symlink-install

From this moment you can use rosbot simulations. Please remember that each time, when you open new terminal window, you will need to load system variables:

source ~/ros2_workspace/install/setup.sh
source /usr/share/gazebo-11/setup.bash

How to use

This example allows to build a map and navigate to user defined destinations.

To run the simulation:

ros2 launch rosbot_description navigation_demo_sim.launch.py

To run on ROSbot 2.0:

ros2 launch rosbot_description navigation_demo.launch.py

To run on ROSbot 2.0 PRO:

ros2 launch rosbot_description navigation_demo_pro.launch.py

Navigation with pre build map

To launch simulation on pre-build map fiew steps are requred

1. Download world made by amazon

cd ~/husarion_ws/src/
git clone -b ros2 https://github.com/aws-robotics/aws-robomaker-bookstore-world.git 
cd .. && rosdep install -y -r -q --from-paths src --ignore-src --rosdistro foxy
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

2. Run demo

. ~/.bashrc # or . ~/husarion_ws/install/setup.bash
ros2 launch rosbot_description nav_amcl_demo_sim.launch.py 

3. Set initial pose of robot

Open other terminal and run rviz ether from our container rosbot-remote (all configuration set) or manually run rviz2 and set necessary displays.

rviz2

*- Set fixed frame to map *- Add Map and LaserScan *- Using 2D Pose Estimate point rosbot somewhere to initialize localization and then set pose again to more-less right place and set goal using 2D Goal Pose