rosbot-pro-demo
A demo showing how to use ROSbot PRO with Nav2 and RViz.
Tip: synchronize project folder between laptop and ROSbot PR
rsync -avzh ./ husarion@10.5.10.164:/home/husarion/temp/rosbot-pro-demo
orwhile inotifywait -r -e modify,create,delete,move ./; do rsync -avzh ./ husarion@10.5.10.164:/home/husarion/temp/rosbot-pro-demo/; done
Quick start
Prerequisites
Make sure the right version of firmware for STM32F4 MCU is flashed on ROSbot. To flash the right firmware, open ROSbot's terminal and execute this command:
docker run --privileged --rm husarion/rosbot:latest ./flash_firmware_diff.sh
Clone this repo to both ROSbot PRO and laptop:
git clone https://github.com/dominikn/rosbot-pro-demo.git
... and choose one of the following network configurations:
In LAN
- Connect ROSbot PRO and laptop to the same LAN
- Launch:
-
On laptop:
xhost local:root docker compose -f compose.pc.yaml -f compose.pc.lan.yaml up
-
On ROSbot PRO:
docker compose -f compose.rosbot.yaml -f compose.rosbot.lan.yaml up
Over The Internet (Husarnet)
- Connect ROSbot PRO and laptop to the same or different networks
- Create
.env
file based on the.env.template
and paste your own Husarnet Join Code here - Launch:
-
On laptop:
xhost local:root docker compose -f compose.pc.yaml -f compose.pc.husarnet.yaml up
-
On ROSbot PRO:
docker compose -f compose.rosbot.yaml -f compose.rosbot.husarnet.yaml up
Over The Internet (Husarnet + DDS Router)
- Connect ROSbot PRO and laptop to the same or different networks
- Create
.env
file based on the.env.template
and paste your own Husarnet Join Code here - Launch:
-
On laptop:
xhost local:root docker compose -f compose.pc.yaml -f compose.pc.ddsrouter.yaml up
-
On ROSbot PRO:
docker compose -f compose.rosbot.yaml -f compose.rosbot.ddsrouter.yaml up
No network: run everything on ROSbot PRO
- Connect the screen, mouse and keyboard to the rear panel of the ROSbot PRO, and open a terminal app.
- Launch:
-
On ROSbot PRO:
xhost local:root docker compose -f compose.pc.yaml -f compose.rosbot.yaml up