https://github.com/husarion/rosbot-autonomy
Autonomous navigation & mapping for ROSbot 2R / 2 PRO
https://github.com/husarion/rosbot-autonomy
nav2 ros2 rosbot2 slam
Last synced: 2 months ago
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Autonomous navigation & mapping for ROSbot 2R / 2 PRO
- Host: GitHub
- URL: https://github.com/husarion/rosbot-autonomy
- Owner: husarion
- License: apache-2.0
- Created: 2023-02-06T12:43:35.000Z (over 3 years ago)
- Default Branch: ros2router
- Last Pushed: 2025-12-11T14:13:02.000Z (6 months ago)
- Last Synced: 2025-12-12T18:04:46.001Z (6 months ago)
- Topics: nav2, ros2, rosbot2, slam
- Language: Just
- Homepage:
- Size: 15.9 MB
- Stars: 7
- Watchers: 2
- Forks: 6
- Open Issues: 3
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# rosbot-autonomy
Autonomous navigation & mapping for ROSbot 2R / 2 PRO with RViz interface running on remote PC. Works over the Internet thanks to Husarnet VPN
> [!NOTE]
> There are two setups on two separate branchers available
> | branch name | description |
> | - | - |
> | [**ros2router**](https://github.com/husarion/rosbot-autonomy/) | Running ROS 2 containers on ROSbot and on PC with the interface in RViz |
> | [**foxglove**](https://github.com/husarion/rosbot-autonomy/tree/foxglove) | Running ROS 2 containers only on ROSbot with a web user interface powered by Foxglove |
## 🛍️ Necessary Hardware
For the execution of this project **[ROSbot 2R or ROSbot 2 PRO](https://husarion.com/manuals/rosbot/)** is required.
You can find it at [our online store](https://store.husarion.com/collections/robots/products/rosbot).
## Quick start (Physical ROSbot)
> [!NOTE]
> To simplify the execution of this project, we are utilizing [just](https://github.com/casey/just).
>
> Install it with:
>
> ```bash
> curl --proto '=https' --tlsv1.2 -sSf https://just.systems/install.sh | sudo bash -s -- --to /usr/bin
> ```
To see all available commands just run `just`:
```bash
husarion@rosbot2r:~/rosbot-autonomy$ just
Available recipes:
connect-husarnet joincode hostname # connect to Husarnet VPN network
flash-firmware # flash the proper firmware for STM32 microcontroller in ROSbot 2R / 2 PRO
start-rosbot # start ROSbot 2R / 2 PRO autonomy containers
start-pc # start RViz visualization on PC
restart-nav2 # restart the navigation stack (and SLAM)
start-gazebo-sim # start Gazebo simulator with autonomy
start-webots-sim # start Webots simulator with autonomy
run-teleop # run teleop_twist_keybaord (host)
run-teleop-docker # run teleop_twist_keybaord (inside rviz2 container)
sync hostname="${ROBOT_NAMESPACE}" password="husarion" # copy repo content to remote host with 'rsync' and watch for changes
```
### 🌎 Step 1: Connecting ROSbot and Laptop over VPN
Ensure that both ROSbot 2R (or ROSbot 2 PRO) and your laptop are linked to the same Husarnet VPN network. If they are not follow these steps:
1. Setup a free account at [app.husarnet.com](https://app.husarnet.com/), create a new Husarnet network, click the **[Add element]** button and copy the code from the **Join Code** tab.
2. Run in the linux terminal on your PC:
```bash
cd rosbot-autonomy # remember to run all "just" commands in the repo root folder
export JOINCODE=
just connect-husarnet $JOINCODE my-laptop
```
3. Run in the linux terminal of your ROSbot:
```bash
export JOINCODE=
sudo husarnet join $JOINCODE rosbot2r
```
> [!IMPORTANT]
> note that `rosbot2r` is a default ROSbot hostname used in this project. If you want to change it, edit the `.env` file and change the line:
>
> ```bash
> ROBOT_NAMESPACE=rosbot2r
> ```
### 📡 Step 2: Sync
Copy the local changes (on PC) to the remote ROSbot
```bash
just sync rosbot2r # or a different ROSbot hostname you used in Step 1 p.3
```
> [!NOTE]
> This `just sync` script locks the terminal and synchronizes online all changes made locally on the robot. `rosbot2r` is the name of device set in Husarnet.
### 🔧 Step 3: Verifying User Configuration
To ensure proper user configuration, review the content of the `.env` file and select the appropriate configuration (the default options should be suitable).
- **`LIDAR_BAUDRATE`** - depend on mounted LiDAR,
- **`MECANUM`** - wheel type,
- **`SLAM`** - choose between mapping and localization modes,
- **`SAVE_MAP_PERIOD`** - period of time for autosave map (set `0` to disable),
- **`CONTROLLER`** - choose the navigation controller type,
- **`ROBOT_NAMESPACE`** - type your ROSbot device name the same as in Husarnet.
> [!IMPORTANT]
> The value of the `ROBOT_NAMESPACE` parameter in the `.env` file should be the same as the name of the Husarnet device.
### 🤖 Step 4: Running Navigation & Mapping
To enable autonomy on the robot, it is necessary:
- starting autonomy on ROSbot
- launching visualization on PC
#### ROSbot
1. Connect to the ROSbot.
```bash
ssh husarion@rosbot2r
cd rosbot-autonomy
```
> [!NOTE]
> `rosbot2r` is the name of device set in Husarnet.
2. Flashing the ROSbot's Firmware.
To flash the Micro-ROS based firmware for STM32F4 microcontroller responsible for low-level functionalities of ROSbot 2, 2R and 2 PRO, execute in the ROSbot's shell:
```bash
just flash-firmware
```
3. Running autonomy on ROSbot.
```bash
just start-rosbot
```
#### PC
To initiate a user interface and navigation stack based on RViz, execute below command on your PC:
```bash
just start-pc
```
### 🚗 Step 5: Control the ROSbot from RViz
To instruct the robot to autonomously explore new areas and create a map (in "slam" mode) of **[2D Goal Pose]** in RViz. When `SLAM` is off, you can indicate the robot's current position by **[2D Pose Estimate]** button.
------
## Simulation
> [!IMPORTANT]
> To run `Gazebo` or `Webots` Simulators you have to use computer with NVIDIA GPU and the [NVIDIA Container Toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html) installed.
If you don't have a physical ROSbot 2R / 2 PRO you can run this project in a simulation.
### Gazebo
To start Gazebo simulator run:
```bash
just start-gazebo-sim
```
### Webots
To start Webots simulator run:
```bash
just start-webots-sim
```