Important

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

rosbot-navigation

Setting target point in RViz (running on your PC) for ROSbot driving autonomously thanks to Nav2 stack. Works both in the LAN network and over the Internet.

PC

Clone this repository:

git clone https://github.com/husarion/rosbot-navigation.git

Create a map of the environment using the rosbot-mapping project template.

Copy rosbot-mapping/maps folder to rosbot-navigation/maps (the same directory as this README).

Check your configs in .env file

LIDAR_SERIAL=/dev/ttyUSB0

# 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
# on ROSbot run "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" in the terminal (system env has precedence over .env file)

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 and you PC.

To sync workspace with ROSbot (works with the newest OS images) execute (in rosbot-navigation directory):

./sync_with_rosbot.sh <ROSbot_ip>

Run RViz and set the initial 2D Pose Estimate by using the button in RViz UI:

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

Now, navigate around with the 2D Goal Pose button in RViz UI.

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 stop rosbot microros || true && docker run \
--rm -it --privileged \
husarion/rosbot:humble-22-12-08 \
/flash-firmware.py /root/firmware.bin

In the ROSbot's shell execute (in /home/husarion/rosbot-navigation directory):

docker compose -f compose.rosbot.yaml up

Quick Start (Webots simulation)

Prerequisites

The compose.sim.webots.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.webots.yaml up