/rosbot-pro-demo

A demo showing how to use ROSbot PRO with Nav2 and RViz

Primary LanguageShellMIT LicenseMIT

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 or while 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

  1. Connect ROSbot PRO and laptop to the same LAN
  2. 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)

  1. Connect ROSbot PRO and laptop to the same or different networks
  2. Create .env file based on the .env.template and paste your own Husarnet Join Code here
  3. 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)

  1. Connect ROSbot PRO and laptop to the same or different networks
  2. Create .env file based on the .env.template and paste your own Husarnet Join Code here
  3. 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

  1. Connect the screen, mouse and keyboard to the rear panel of the ROSbot PRO, and open a terminal app.
  2. Launch:

  • On ROSbot PRO:

    xhost local:root
docker compose -f compose.pc.yaml -f compose.rosbot.yaml up