README.md

rosbot-docker

Docker Image for ROS Humble Node providing interface for STM32 firmware over Micro-ROS.

rosbot-docker contain following ROS packages:

• rosbot_ros

With docker-compose configuration shown in demo it can communicate with hardware of ROSbot 2R, ROSbot 2 PRO and ROSbot 2.0.

Quick Start

services:

  rosbot:
    image: husarion/rosbot:humble
    devices:
      - ${SERIAL_PORT:?err}
      - /dev/bus/usb/ # FTDI (if connecting over USB port with STM32)
    environment:
      - ROS_DOMAIN_ID=30
    command: >
      ros2 launch rosbot_bringup combined.launch.py
        mecanum:=${MECANUM:-False}
        serial_port:=$SERIAL_PORT
        serial_baudrate:=576000
        namespace:=robot1

Flashing the firmware

Firmware if flashed from inside of the container running on the ROSbot:

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

Building locally

docker buildx build \
--platform linux/amd64 \
-t rosbot-docker-test \
.

Reading CPU id

docker run \
--rm -it --privileged \
husarion/rosbot:humble \
print-serial-number.py

ROS node

Most important nodes published by this docker after launching rosbot_bringup.launch.py are shown below.

For more details on what is being published and subscribed by nodes running in this container please refer to launch file and packages:

• rosbot_ros
• rosbot_ros2_firmware

Developing

pre-commit configuration prepares plenty of tests helping for developing and contributing. Usage:

# install pre-commit
pip install pre-commit

# initialize pre-commit workspace
pre-commit install

# manually run tests
pre-commit run -a

How to use rosbot Docker image?

Find available projects below:

link	description
rosbot-sensors	Visualize all ROSbot sensors
rosbot-gamepad	Control the robot manually using a Logitech F710 gamepad
rosbot-telepresence	Stream a live video from Orbbec Astra to a window on your PC. Control the robot using teleop-twist-keyboard
rosbot-autonomy	A combination of mapping and navigation projects allowing simultaneous mapping and navigation in unknown environments.