Important

This repo is deprecated. Visit https://github.com/husarion/rosbot-xl-autonomy instead.

rosbot-xl-mapping

Create a map of the unknow environment with ROSbot XL controlled in the LAN network or over the Internet.

Quick Start (real robot)

PC

Clone this repository:

git clone https://github.com/husarion/rosbot-xl-mapping.git

Connect a gamepad to USB port of your PC/laptop (the steering without the gamepad will also be described as an alternative).

Check your configs in .env file:

LIDAR_SERIAL=/dev/ttyRPLIDAR

# for RPLIDAR A2M8:
# LIDAR_BAUDRATE=115200
# for RPLIDAR A2M12 and A3:
LIDAR_BAUDRATE=256000

DDS_CONFIG=DEFAULT
# DDS_CONFIG=HUSARNET_SIMPLE_AUTO

RMW_IMPLEMENTATION=rmw_fastrtps_cpp
# RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

MECANUM=True
# MECANUM=False

Notes:

• Usually RPLIDAR is listed under /dev/ttyUSB0, but verify it with ls -la /dev/ttyUSB* command.
• If you have RPLIDAR A3 or A2M12 (with violet border around the lenses) set: LIDAR_BAUDRATE=256000. Otherwise (for older A2 LIDARs): LIDAR_BAUDRATE=115200.
• With DDS_CONFIG=DEFAULT your robot and laptop need to be in the same LAN network. If you want to use this demo over the Internet, set DDS_CONFIG=HUSARNET_SIMPLE_AUTO and enable Husarnet on ROSbot XL and you PC.

Sync a workspace with ROSbot XL:

./sync_with_rosbot.sh <ROSbot_XL_IP>

Open new terminal on PC and run Rviz depending on whether you have a gamepad or not. Then you will be able to control the ROSbot and create map of the environment. The map os being saved automatically in the rosbot-xl-mapping/maps folder.

With the gamepad connected to PC

xhost +local:docker && \
docker compose -f compose.pc.yaml up

Without the gamepad

xhost +local:docker && \
docker compose -f compose.pc.yaml up -d map-saver rviz

Then enter the running rviz container:

docker exec -it rviz bash

Now, to teleoperate the ROSbot XL with your keyboard, execute:

ros2 run teleop_twist_keyboard teleop_twist_keyboard

ROSbot

Firmware version

Before running the project, make sure you have the correct version of a firmware flashed on your robot.

Firmware flashing command (run in the ROSbot's terminal)

docker run --rm -it --privileged \
husarion/rosbot-xl:humble \
flash-firmware.py -p /dev/ttyUSB0

In the ROSbot's terminal execute (in /home/husarion/rosbot-xl-mapping directory):

docker compose -f compose.rosbot.yaml up

Quick Start (Gazebo simulation)

Prerequisites

The compose.sim.gazebo.yaml file uses NVIDIA Container Runtime. Make sure you have NVIDIA GPU and the NVIDIA Container Toolkit installed.

Start the containers in a new terminal:

xhost +local:docker && \
docker compose -f compose.sim.gazebo.yaml up

And in the second terminal start telop-twist-keyboard for manual ROSbot XL control:

docker exec -it rviz bash

And inside the running container shell execute:

ros2 run teleop_twist_keyboard teleop_twist_keyboard

Map will be automatically saved every 5 seconds.