ROSBOT XL simulation camera issue

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1

The camera node / topic is not visible using ros2 node/topic list or rviz2

the rest of the simulation and nodes/topics seem fine

2

The attached tutorial link shows several ways to run the simulation. If you did it using Native ROS Humble, the robot configuration:=autonomy arg is missing in step 4.

  1. Create an alias in the .bashrc file to speed up launching the simulator.

image
image974×379 32 KB

echo "alias ROSBOT_SIM='ros2 launch rosbot_gazebo simulation.launch.py ​​robot_model:=rosbot_xl configuration:=autonomy'" >> ~/.bashrc
. ~/.bashrc

However, your description is sketchy. If that’s not what you meant, please provide a more detailed explanation.

3

Hi @sundeepkp,

The topic name in the tutorial screenshot (/camera) is outdated.
The current rosbot_ros (Humble) publishes the OAK-D camera on /oak/... topics, not /camera. I verified this just now on husarion/rosbot-gazebo:humble with configuration:=autonomy. This corresponds to the physical configuration.

/oak/camera_info
/oak/rgb/color               <-- sensor_msgs/msg/Image
/oak/stereo/camera_info
/oak/stereo/depth
/oak/stereo/depth/points
/scan
/scan_filtered

In RViz2 add an Image display and set the topic to /oak/rgb/color (and PointCloud2 on /oak/stereo/depth/points for the depth cloud).

Running natively (ROS 2 Humble)

ros2 launch rosbot_gazebo simulation.launch.py \
    robot_model:=rosbot_xl \
    configuration:=autonomy

If the ROSBOT_SIM alias you mentioned hard-codes configuration:=basic, just call the launch file directly as above — or append configuration:=autonomy if your alias allows extra args.

Quick check:

ros2 topic list | grep -E 'oak|scan'

Running with Docker

Grab the files from the docker/ directory on the humble branch:

Then from rosbot_ros/docker/:

  1. Edit .env:

    ROBOT_MODEL='rosbot_xl'

  2. Edit compose.simulation.yaml, append configuration:=autonomy to the launch command:

    command: >
  ros2 launch rosbot_gazebo simulation.launch.py
    robot_model:=${ROBOT_MODEL:?ROBOT_MODEL unset}
    configuration:=autonomy

  3. Start it:

    xhost +local:docker
docker compose -f compose.simulation.yaml up

  4. Verify from inside the container:

    docker compose -f compose.simulation.yaml exec rosbot bash
ros2 topic list
4

yes I actually discovered it a few hours ago . I felt so stupid after doing so. Thankyou so much for the help.

5

Don’t worry, I plan to update this documentation to Jazzy. Although I might only change it after Royal Lyric releases, as there are a lot of other things to take care of.

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