rosbot-docker

Docker Image for ROS Melodic Node providing interface for STM32 firmware over ROS-serial.

rosbot-docker contain following ROS packages:

• rosbot_ros
• rosbot_ekf

With docker-compose configuration shown in demo it can communicate with hardware of both Rosbot 2.0 and Rosbot 2.0 Pro.

Flashing the firmware | switch kinematics

Firmware if flashed from inside of the container. In order to use specific kinematics flash matching firmware.

Differential kinematics (normal wheels)

docker run --rm -it --privileged \
husarion/rosbot:noetic \
/flash-firmware.py /root/firmware_diff.bin

Mecanum kinematics

docker run --rm -it --privileged \
husarion/rosbot:noetic \
/flash-firmware.py /root/firmware_mecanum.bin

Building locally

docker buildx build \
--platform linux/amd64 \
-t rosbot-docker-test \
.

ROS node

Most important nodes published by this docker after launching rosbot_docker.launch are shown below.

Subscribes

• /cmd_vel (geometry_msgs/Twist, /serial_bridge)

Publishes

• /tf (tf2_msgs/TFMessage, /rosbot_ekf)
• /tf_static (tf2_msgs/TFMessage, /imu_publisher, /laser_publisher, /camera_publisher)
• /odom (nav_msgs/Odometry, /rosbot_ekf)
• /imu (sensor_msgs/Imu, /serial_bridge)
• /battery (sensor_msgs/BatteryState, /serial_bridge)
• /range/fl (sensor_msgs/Range, /serial_bridge)
• /range/fr (sensor_msgs/Range, /serial_bridge)
• /range/rl (sensor_msgs/Range, /serial_bridge)
• /range/rr (sensor_msgs/Range, /serial_bridge)

For more details on what is being published and subscribed by nodes running in this container please refer to launch file and packages:

• rosbot_ros
• rosbot_ekf
• rosbot-stm32-firmware

Autonomous Navigation Demo

in a /demo folder your will find an example of how to use ROSbot docker image in a real autonomous navigation use case.