[Solved] ROS2 Robot Demo 0

Software
1

wget -O /home/husarion/firmware.bin https://github.com/husarion/rosbot-stm32-firmware.git

This created a file called firmware.bin in the home directory.

bash /home/husarion/flash_firmware.sh

This produced
bash: /home/husarion/flash_firmware.sh: No such file or directory

That was confirmed.

And then to launch the demo by first sourcing ~/husarion_ws/install/setup.bash was met with the ever familiar “No such file or directory”

It seems I’m dropping peanuts along the way or not realizing intended steps were not taken or I just don’t know what I’m doing.

Are there resources out there still in flux for the ROSbot2R?

Should I pause or push forward?

I pushed forward and went to the Docker container version…

docker run --privileged --rm husarion/rosbot:humble ./flash_firmware_diff.sh

Produced:
/ros_entrypoint.sh: line 8: /flash_firmware_diff.sh: No such file or directory

rosbot:latest, rosbot:galactic had no manifest so couldn’t be found.

rosbot:noetic was same as rosbot:humble

Still in flux??

That’s my brick will before moving forward to projects and training classes. My ROSbot2R is getting closer to passing my incoming inspection and evaluation. :crossed_fingers:

Joe

2

UPDATE:
git clone https://github.com/husarion/rosbot-remote.git
cd rosbot-remote/rviz
./build_image.sh
./run_image.sh

docker: Error response from daemon: Unknown runtime specified nvidia.

3

UPDATE 2:
Robot Demo 0 (using Docker)

ROSBOT
mkdir rosbot-nav2-demo
cd rosbot-nav2-demo
touch compose.rosbot.yaml

Quick Start (at fist stop ROS Master if working on host)
$ docker compose -f compose.rosbot.yaml up

version: “2.3”

services:

ROS Galactic
nav2:
image: husarion/nav2:galactic-latest
restart: unless-stopped
network_mode: host
ipc: host
environment:
- ROS_DOMAIN_ID=228
command: ros2 launch husarion_nav2 bringup_both.launch.py

ROS Noetic + ROS 2 Galactic
bridge:
image: ros:galactic-ros1-bridge
restart: unless-stopped
network_mode: host
ipc: host
environment:
- ROS_IP=127.0.0.1
- ROS_MASTER_URI=http://127.0.0.1:11311
- ROS_DOMAIN_ID=228
command: ros2 run ros1_bridge dynamic_bridge

ROS Master (using custom port in case Master is already running on host OS)
ros-master:
image: ros:melodic-ros-core
restart: unless-stopped
network_mode: host
ipc: host
environment:
- ROS_IP=127.0.0.1
command: stdbuf -o L roscore

ROS Melodic rosbot hardware layer
rosbot:
image: husarion/rosbot
restart: unless-stopped
network_mode: host
ipc: host
devices:
- /dev/ttyS4 # must match environment SERIAL_PORT
environment:
- ROS_IP=127.0.0.1
- ROS_MASTER_URI=http://127.0.0.1:11311
- SERIAL_PORT=/dev/ttyS4 # default: ttyS1 - rosbot2.0; ttyS4 - rosbot2.0 `pro
command: roslaunch --wait rosbot_description rosbot_docker.launch

ROS Melodic Rplidar
rplidar:
image: husarion/rplidar:latest
restart: unless-stopped
network_mode: host
ipc: host
devices:
- /dev/ttyUSB0
environment:
- ROS_IP=127.0.0.1
- ROS_MASTER_URI=http://127.0.0.1:11311
command: roslaunch --wait rplidar_ros rplidar_a3.launch # For Rosbot 2.0 PRO use roslaunch rplidar_ros rplidar_a3.launch

docker compose -f compose.rosbot.yaml pull

Error response from daemon: manifest for husarion/rplidar:latest not found: manifest unknown

LAPTOP
mkdir rosbot-nav2-demo
cd rosbot-nav2-demo
touch compose.pc.yaml

Quick Start
$ xhost local:root
$ docker compose -f compose.pc.yaml up
version: “2.3”
services:
ROS Galactic
rviz:
image: husarion/rviz2
restart: unless-stopped
network_mode: host
ipc: host
volumes:
- /tmp/.X11-unix:/tmp/.X11-unix:rw
- ./rosbot_pro.rviz:/root/.rviz2/default.rviz
environment:
- ROS_DOMAIN_ID=228
- DISPLAY

docker compose -f compose.pc.yaml pull

Error response from daemon: manifest for husarion/rviz2:latest not found: manifest unknown

It would seem I have failed here too.

4

Hello Joe,

We move our tutorials and examples to a new, more modular system focusing on the latest ROSbot 2R robots, which you have for example. This causes problems with latest image tags. We will update all examples and tutorials from the past for the new architecture and let you know right away.

Regards
Jan Brzyk
Husarion Team

5

Thanks for the description. Good to know I’m on the cutting edge of new technology.

6

Hello @Joe_Worthit,

finally, some updates about these demos you posted about.
They are officially no longer available on our website, as new repositories like rosbot-mapping with the same purpose are more up to date.

Best regards
Jan Brzyk

7

Thanks for the update. Just moved on and tried the Autoware Demo again. Still doesn’t work for me.

8

The Autoware Demo is still in progress as it is not the priority in ROSbot software development.

Best regards
Jan Brzyk