mbot_ros2_ws

mbot - ROS2 Jazzy - Ubuntu 24.04

To get started

Clone the repository

This repository should be the src folder of the ROS2 workspace. So first we create the workspace mbot_ws. Then clone this repo as src.

mkdir mbot_ws
cd mbot_ws
git clone --recurse-submodules https://github.com/mbot-project/mbot_ros2_ws.git src

OR if you are using gh:

mkdir mbot_ws
cd mbot_ws
gh repo clone mbot-project/mbot_ros2_ws src
git submodule update --init --recursive

Then source the setup file:

echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc
echo "export ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST" >> ~/.bashrc

Build

source /opt/ros/jazzy/setup.bash
cd ~/mbot_ws
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO --skip-keys=libcamera
colcon build --symlink-install
echo "source $PWD/install/local_setup.bash" >> ~/.bashrc
source install/local_setup.bash

By default this will create the following directories as peers of the src directory:

• The build directory will be where intermediate files are stored. For each package a subfolder will be created in which e.g. CMake is being invoked.
• The install directory is where each package will be installed to. By default each package will be installed into a separate subdirectory.
• The log directory contains various logging information about each colcon invocation.

Launch

Bring up the mbot

ros2 launch mbot_bringup mbot_bringup.launch.py 

• This will bring up the lidar driver, the robot description for visualization, and the tf tree.
• This command will not launch rviz.

Visualize the robot model

ros2 launch mbot_bringup mbot_bringup.launch.py 

Run the following line on NoMachine:

ros2 launch mbot_bringup mbot_viz.launch.py

SLAM and Navigation

Please check the README file under mbot_navigation.

Computer Vision

Please check the README file under mbot_vision.

Individual packages

sllidar_ros2

ROS LiDAR driver - This will publish the topic /scan

ros2 launch sllidar_ros2 sllidar_a1_launch.py frame_id:=lidar_link 

mbot_interfaces

• Where mbot custom messages and services are defined.
• The messages defined here are used on both Pi5 and Pico.

mbot_description

• ROS package of the URDF model