ROSbot XL demo for IROS 2023 - manipulation combined with navigation.

Clone the repository to your computer and download necessary docker images (You WILL loose internet access in the next step so actually do this):

git clone "https://github.com/husarion/rosbot-xl-iros-demo.git"
cd rosbot-xl-iros-demo
docker compose -f compose.pc.yaml pull

Now power up the ROSbot XL and connect you computer to the rosbotap network (default password is husarion), run ssh [email protected] and go into the rosbot-xl-iros-demo directory. Before running the containers, check the following things:

• gamepad should be connected to the ROSbotXL
• make sure that antennas are tilted, so they won't collide with the manipulator.
• take the manipulator out of the dock and hold it in the starting position. Now you're ready to run the mapping mode:

SLAM_MODE=slam docker compose up

For details about manipulator operation and turning off check out dedicated tutorial

After everything starts you can type in your browser:

http://192.168.78.1:8080/

or click here.

to connect to the Foxglove. You will additionally have to select the data source (plus sign in the left upper part, open new connection: ws://192.168.78.1:9090). Now you should see the model and map.

To control manipulator you, run on your computer:

xhost +local:docker && docker compose -f compose.pc.yaml up

Now you can drive around using gamepad and once you are finished simply kill the containers.

After creating a map you can use localization mode (which also comes with autonomous navigation). Run:

SLAM_MODE=localization docker compose up

After eveyrthing launches connect to the Foxglove (as described above) and publish the initial pose:

• in the Panel Settings change publish type to Pose estimate:

• select Click to publish

• select robot's position

Now change the publish type back to Pose and make sure that topic is set to /goal_pose. You can use the Click to publish to send goals to the robot.

SLAM_MODE=slam docker compose -f compose.simulation.yaml up

SLAM_MODE=localization docker compose -f compose.simulation.yaml up