makes use of adapted version of rosbot_ekf https://github.com/KdVos/rosbot_ekf
Make sure the following repos are present in the husarion_ws of the robot
https://github.com/KdVos/rosbot_rosserial_python
https://github.com/KdVos/rosbot_ekf_multi
On the rosbot network the rosbots have the following IPs
| Robot | Type | IP |
|---|---|---|
| Pyro | ROSBOT 2.0 (Red and White) | 192.168.1.3 |
| Bobo | ROSBOT 2.0 PRO (Black and Purple) | 192.168.1.4 |
| Coco | ROSBOT 2.0 PRO (Black and Purple) | 192.168.1.5 |
Logging into the robots is easily done through the command line
ssh husarion@<IP of Robot>
After installation of the default ROSBOT software:
install the following packages for namespace resolution. Reboot afterwards.
sudo apt-get install libnss-mdns avahi-daemon avahi-dnsconfd
libnss-mdns # Allows for searching .local dns names avahi-daemon # Allows for exposing .local dns name avahi-dnsconfd # Listens on the network for announced DNS servers and passes them to resolvconf
install the following packages for namespace resolution. Reboot afterwards.
sudo apt-get install libnss-mdns avahi-daemon avahi-dnsconfd
libnss-mdns # Allows for searching .local dns names avahi-daemon # Allows for exposing .local dns name avahi-dnsconfd # Listens on the network for announced DNS servers and passes them to resolvconf
#TODO: setup the ROS network with proper namespace resolution.
ROBOT
In the bashrc of the robot add the line:
export ROS_IP=<ip of the robot>
Disable the firewall on the robot, or whitelist the remote PC on the robot. To do the latter, on the robot run:
sudo ufw allow from <ip of the remote PC>
Furthermore, make sure that the following enviroment variable is set
export ROSBOT_VER=ROSBOT_2.0
or
export ROSBOT_VER=ROSBOT_2.0_PRO
depending on the exact model you're using.
Remote PC
In the bashrc of the remote PC add:
export ROS_HOSTNAME=<ip of the remote PC>
Disable the firewall on your remote PC or whitelist the robot on the remote PC. To do the latter, on the robot run:
sudo ufw allow from <ip of the robot>
On the Robot run the following command on the robot
roslaunch rosbot_bringup start.launch
To test the correct functioning of the robot you can drive around using teleop
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
To also launch the camera node, run instead
roslaunch rosbot_bringup start.launch camera:=true
To test the working of the (rgb)-camera run (on the remote laptop)
rosrun image_view image_view image:=/camera/rgb/image_raw/ compressed
Using ROS, there has to be exactly one master, which runs the roscore.
Depending on your specific application, and/or preferences, you might want to run the roscore on either the remote pc or one of the robots.
In this readme we will assume that the roscore is running on one of the robots.
Access the bashrc file on each robot/laptop using nano ~/.bashrc, close and save using ctrl + x.
Make sure that for each, the following variables are set
Remote PC
export ROS_MASTER_URI=http://<IP of the Master Robot>:11311
export ROS_HOSTNAME=<ip of the remote PC>
Master Robot
export ROS_MASTER_URI=http://master:11311
export ROS_IP=<ip of the Master Robot>
Other Robots
export ROS_MASTER_URI=http://<IP of the Master Robot>:11311
export ROS_HOSTNAME=<ip of this Robot>
In order to prevent a clash between nodes that have the same name, we have to namespace all nodes that we want to launch.
On each Robot run the following command on the robot
roslaunch rosbot_bringup start_ns.launch ns:=<Name of Robot>
To test the correct functioning of the robot you can drive around using teleop
rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:= /<Name of Robot>/cmd_vel
To also launch the camera node, run instead
roslaunch rosbot_bringup start_ns.launch ns:=<Name of Robot> camera:=true
To test the working of the (rgb)-camera run (on the remote laptop)
rosrun image_view image_view image:=/<Name of Robot>/camera/rgb/image_raw/ compressed