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ROSbot - quick start

ROSbot - quick start

ROSbot 2.0 and ROSbot 2.0 PRO are autonomous, open source robot platforms running on CORE2-ROS controller. It can be used as a learning platform for Robot Operating System as well as a base for a variety of robotic applications like inspection robots, custom service robots etc.

If you don't have one, you can purchase it here.

Unboxing

What's in the box:

  • carrying case
  • ROSbot 2.0 (with optional 3D camera and LiDAR already assembled)
  • Wi-Fi 2.4GHz antenna
  • 3x 18650 Li-Ion reachargeable batteries
  • universal charger with power adapter
  • charging cable
  • microSD card with the software for ROSbot
  • USB to Ethernet adapter

Assembly

Your ROSbot is assembled, but to get it ready to work, you need to provide a power supply and attach the antenna.

To mount batteries:

  • turn ROSbot upside down
  • unscrew battery cover mounted with two screws
  • remove the battery cover
  • place batteries accordingly to the symbols, keeping the black strip under the batteries
  • place batery cover and mount it with screws

To charge the batteries, follow this guide.

To attach the antenna, screw it to the antenna connector on the ROSbot rear panel.

Connecting to the cloud

There are three ways to connect ROSbot to Husarion cloud: mobile app, ethernet connection or mouse + keyboard. Choose the most comfortable for you.

Using hConfig app (only for ROSbot 2.0)

Using Ethernet adapter (both for ROSbot 2.0 and for ROSbot 2.0 PRO)

  • Turn on your robot
  • Plug in Ethernet adapter (included in set) to USB port in a rear panel
  • Plug in one end of the Ethernet cable into your computer and other one to the adapter
  • Connect with ROSbot via ssh, type in your terminal application: ssh husarion@192.168.0.1 and passowrd husarion
  • After conection to robot type ifconfig wlan0 and press Enter
  • Type iwconfig wlan0 essid name key password and press Enter
  • Type dhclient wlan0 and press Enter to obtain an IP address and connect to the WiFi network
  • Open your web browser, visit https://cloud.husarion.com and log in
  • Click on "Add new" button
  • Enter device name and click "Next"
  • Copy registration code under QR code (it looks like: "prod|xxxxxxxxxxxxxxxxxxxxxx")
  • Type sudo husarion-register in ROSbot terminal, press Enter and paste the registration code.
  • You should see "OK" communicate
  • Reboot your device using on<->off switch on the ROSbot rear panel
  • After rebooting your device will show at your Husarion Cloud account

Using display, mouse and keyboard (both for ROSbot 2.0 and for ROSbot 2.0 PRO)

  • Plug in display with HDMI, mouse and keyboard into USB port in rear panel of ROSbot.
  • Turn on the robot and wait until it boots.
  • Chose you local Wi-Fi and connect to them.
  • Open terminal and type sudo husarion-register
  • Open https://cloud.husarion.com
  • Click on "Add new" button
  • Enter device name and click "Next"
  • Copy code under QR code
  • Open terminal window where you executed command from 4 step and push Enter
  • You should see "OK" communicate
  • Reboot your device using on<->off switch
  • After rebooting your device will show in Husarion Cloud

Programming

First you will program the Core2 part:

  • Turn on your ROSbot.
  • At https://cloud.husarion.com click "edit" next to your device name and sellect "IDE".
  • Create a new project using Core2 as your board and 'ROSbot default firmwre' as a template.
  • Build and upload program to the deivce.
  • Go back to cloud panel

Next you will proceed to ROS part of software:

  • Click "edit" next to your device name and sellect "More".
  • Choose "SSH terminal"
  • In terminal issue following commands:

Updates the package lists for upgrades for packages:

sudo apt update

Install the required packages:

sudo apt install python-tornado python-pip ros-kinetic-rosbridge-suite ros-kinetic-web-video-server nginx

Create new work space and change directory:

mkdir ~/ros_workspace

mkdir ~/ros_workspace/src

cd ~/ros_workspace/src

Clone repository containing rosbot webui:

git clone https://github.com/husarion/rosbot_webui.git

Clone husarion_ros repository:

git clone https://github.com/lukaszmitka/husarion_ros.git

Change directory and build code using catkin_make:

cd ~/ros_workspace

catkin_make

Add environmental variables from the following file:

source devel/setup.sh

Note that you have to do it every time you want to use ROSbot webui. You can also set it up permanently. Open .bashrc file in text editor:

nano ~/.bashrc

Go to the end of file and add line:

. /home/husarion/ros_workspace/devel/setup.sh
  • Staying in terminal issue command:

sudo nano /etc/nginx/sites-enabled/default

This will open text editor with configuration file, find line:

root /var/www/html;

and change it to:

root /home/husarion/ros_workspace/src/rosbot_webui/edit;

  • To exit text editor press: "Ctrl + x", "y", "Enter"
  • Again in terminal issue command:

sudo systemctl restart nginx

Usage

Programming procedure needs to be done only once, on further uses, you can start from this point:

  • Turn on your ROSbot.
  • Click "edit" next to your device name and sellect "More" where you will find a local IP address of your device.
  • Open a terminal and ssh to that IP address using that command: ssh husarion@x.x.x.x (instead of "x.x.x.x" type your local IP address - your laptop should be in the same Wi-Fi network as you robot)
  • Note the address next to "Local IP" (in "Edit"->"More" section), you will need it in a while.
  • In terminal issue following command:

roslaunch rosbot_webui demo.launch

  • Connect your laptop or mobile device to the same network as ROSbot.
  • Launch web browser and type the local IP of your ROSbot (the one you noted before)
  • You should see interface as below, use it to test and control your ROSbot.
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