A ROS 2 world system for robotics applications featuring new poses.

Overview • Architecture • Installation • Usage • fbot_world message and services • Contributing

Overview

fbot_world is a ROS 2 package for managing poses in world map scenarios. It allows loading and saving poses for reuse across different robotic applications.

It was designed for the RoboCup@Home and the robot BORIS competition but is adaptable to various robotics scenarios.

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Architecture

The system consists of three main packages:

fbot_world/
├── 📁 fbot_world/          # Core fbot_world files
|   ├── 📁 fbot_world/      # node files
│   ├── 📁 launch/      # launch files
│   ├── 📁 scripts/    # script files
└── 📁 fbot_world_msgs/          # Custom ROS message definitions

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Installation

Prerequisites

• ROS2 Humble
• Python 3.10+
• Ubuntu 22.04
• Dependencies listed in package.xml and requirements.txt

Setup

1. Clone the repository into your ROS workspace:

   cd ~/fbot_ws/src
   git clone https://github.com/fbotathome/fbot_world.git

2. Install dependencies:

   cd ~/fbot_ws
   sudo rosdep init  # Skip if already initialized
   rosdep update
   rosdep install --from-paths src --ignore-src -r -y
   pip install -r src/fbot_world/requirements.txt

3. Build the workspace:

   cd ~/fbot_ws
   colcon build --packages-select fbot_world fbot_world_msgs
   source install/setup.bash

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Usage

Pose Node

# Launch pose node
ros2 launch fbot_world pose.launch.py config_file_name:=file_name_without_dot_yaml

Pose Writer Node

# Launch YOLO tracker with pose estimation
ros2 run fbot_world pose_writer

fbot_world message and services

Services

Service	Type	Description
/fbot_world/get_pose	GetPose	Service callback to return the pose and size for a requested target key
/fbot_world/get_set	GetPoseFromSet	Service callback to return all poses for a requested group name key
/fbot_world/get_groups_names	GetSets	Service callback to return all gorup names in redis

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Contributing

1. Create a feature branch (git checkout -b feat/amazing-feature)
2. Commit your changes (git commit -m 'Add amazing feature')
3. Push to the branch (git push origin feat/amazing-feature)
4. Open a Pull Request