ma-shangao/frl_rosbot_onboard

The onboard dev code for each robot agent within a multi AMR system using Husarion ROSbot 2 Pro

frl_rosbot_onboard

This package is developed to be implemented on the physical robot Husarian ROSbot Pro.

It is a CMake ROS 2 package, tested on foxy.

Installation

Prepare the ROSbot 2 Pro

Install the system files following the instructions at https://husarion.com/manuals/rosbot/operating-system-reinstallation/.

Install the package from source

Clone the package into your workspace and build it.

cd $YOUR_WORKSPACE/src
git clone https://github.com/ma-shangao/frl_rosbot_onboard.git
cd ..
colcon build --symlink-install

Dependencies

This package relies on the packages integrated in the system files at https://robot-os-images.s3.eu-central-1.amazonaws.com/ros-foxy-upboard-2022-08-23.iso

Other dependecies are specified in package.xml. You can install them by running

cd $YOUR_WORKSPACE
rosdep update
rosdep install --from-paths . --ignore-src -y -r

If this is your first time to run this command, you may need to run sudo rosdep init first.

Features

Robot state publisher

This package rewrapped the robot description for Husarian ROSbot 2 Pro in launch/robot_state_publisher_launch.py.

Bringing up the whole robot

We provided the launch/frl_rosbot_bringup_launch.py to bringup everything you need from the robot, such as sensors, actuators and robot description.

Simply launch the robot by:

ros2 launch frl_rosbot_onboard frl_rosbot_bringup_launch.py

Basic navigation functions

We also provided an example for robot localisation and waypoint following in an mapped environment based on nav2.

Simulation

For instructions of the simulated ROSbot 2 Pro, please refer to: https://github.com/husarion/rosbot_description/tree/foxy.

Known limitations

• The depth camera pointcloud registration is currently not available on ROS 2 for Husarian ROSbot Pro.

Licence

This work is licenced under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.

frl_rosbot_onboard's Issues

Dependency management

The current dep management is chaotic. Refer to https://docs.ros.org/en/foxy/Tutorials/Intermediate/Rosdep.html to refactor the rodep-related code and doc.

Refactor launch file loading saved maps

TF prefix for multi-robot support

ROS2 Humble

The Nav2 Simple (Python3) Commander API is not supported in ROS 2 Foxy.
However, Foxy is the latest ROS_DISTRO officially supported by Husarion for 2 PRO model. May need to keep an eye on their OS support page.

Node/Topic namespace for multi-robot support

Note that: rcl is currently developing the ROS_NAMESPACR or ROS2_NAMESPACE at this PR.

SLAM mapper

Wrap up a new launch file to build new maps in unknown environment, which should be just a slightly changed version from the former one using the generated office map.

Guidelines for robot bringup

@Private1rjq suggested to add practical guidelines to help users understand how to use the repo.

I think two sections should be added into README:

1. real robot bringup
2. gazebo bringup

I opened a new branch for the real robot bringup guideline.

Astra camera support

The husarion fork of the camera pkg can't even pass the build and has already been deprecated.