Description
The rosbot snap includes all the essential software required to operate the ROSbot, including the controller, robot state publisher, and more. The snap is dedicated for: ROSbot XL, ROSbot 3 / 3 PRO, ROSbot 2R / 2 PRO. The snap is based on https://github.com/husarion/rosbot_ros package, which provides the ROS 2 driver for the ROSbot mobile robot.
Installation
To install this snap on the Single Board Computer (SBC) within the ROSbot run the following command:
snap install rosbot
sudo /var/snap/rosbot/common/post_install.sh
sudo rosbot.flash
Usage
After installation, you need to specify robot-model by running:
sudo snap set rosbot driver.robot-model=rosbot/rosbot-xl
You can start the ROSbot driver by running:
sudo rosbot.start
After that robot is operational and you can control it using by sending commands to the /cmd_vel
topic. For example, you can use the teleop_twist_keyboard
node to control the robot from a terminal:
sudo rosbot.teleop
or you can connect a Logitech F710 USB dongle to the ROSbot's USB port to control the robot. Remember to set gamepad in X
mode and keep pressing the LB button on the gamepad to enable control.
Parameters
The snap provides the following configurable parameters:
driver
: {...}
ros
: {...}
The ros
contains the following keys:
ros.domain-id
: 0
- Sets the ROS_DOMAIN_ID
ROS 2 env.ros.localhost-only
: 0
- Sets the ROS_LOCALHOST_ONLY
ROS 2 env.ros.transport
: udp
- Configures DDS transport. Options are udp
, shm
, builtin
(or rmw_fastrtps_cpp
), rmw_cyclonedds_cpp
. Corresponding DDS XML files can be found in the /var/snap/rosbot/common
directory (custom FastDDS setups can also be created here).ros.namespace
: `` - Namespace for all topics and transforms.The driver
contains the following keys:
driver.configuration
: basic
- Specify robot configuration. This parameter affects URDF and starts the manipulator. rosbot
has only basic
configuration. rosbot-xl
has: basic
, telepresence
, autonomy
, manipulation
, manipulation-pro
.driver.mecanum
: True/False
(depend on robot-model) - switches between mecanum or differential drive controller.driver.robot-model
: ` - Allows you to select the robot model (options:
rosbot,
rosbot-xl`).driver.serial-port
: auto
- Serial port for firmware (e.g., /dev/ttyUSB0
).To set parameters, use:
snap set rosbot driver.mecanum=True
Available Apps (Main)
rosbot.flash
- Flash firmware for the STM32F4 microcontroller.rosbot.start
- Start the daemon running the ROSbot ROS 2 driver.rosbot.stop
- Stop the daemon running the ROSbot ROS 2 driver.rosbot.teleop
- Run the teleop_twist_keyboard
node to control the robot from a terminal.Auxiliary Apps
rosbot.config-ftdi
- Set up the CBUS pins in the FTDI chip (used with RST and BOOT0 pins in STM32); needs to be done only once.rosbot.print-serial-number
- Print the CPU ID and serial number of ROSbot.rosbot.reset-stm32
- Reset the STM32F4 microcontroller.Working with ROS Parameters
For multiple snaps running ROS 2 or host-snap-Docker communication, useful files and scripts are available in /var/snap/rosbot/common/
.
Example usage:
# Set parameters in the rosbot snap
sudo snap set rosbot ros.transport=udp ros.namespace=abc
# Mirror the setup for other ROS 2 snaps
sudo snap set husarion-depthai $(cat /var/snap/rosbot/common/ros_snap_args)
sudo snap set husarion-rplidar $(cat /var/snap/rosbot/common/ros_snap_args)
# Set up the current shell with the same configurations
source /var/snap/rosbot/common/ros.env
# Install configurations
/var/snap/rosbot/common/manage_ros_env.sh
source ~/.bashrc
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap __ns:=/${ROS_NAMESPACE}
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Snaps are applications packaged with all their dependencies to run on all popular Linux distributions from a single build. They update automatically and roll back gracefully.
Snaps are discoverable and installable from the Snap Store, an app store with an audience of millions.
Snap can be installed on elementary OS from the command line. Open Terminal from the Applications launcher and type the following:
sudo apt update
sudo apt install snapd
Either log out and back in again, or restart your system, to ensure snap’s paths are updated correctly.
To install rosbot, simply use the following command:
sudo snap install rosbot
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