Important

This repository is archived and no longer actively maintained. All logic and further development have been moved to the rosbot_ros repository. Please refer to the new repository for the latest updates and ongoing development.

rosbot-xl-docker

Docker images for ROSbot XL

Official ROSbot XL docker images built from this repo are available here: https://hub.docker.com/r/husarion/rosbot-xl/tags

• husarion/rosbot-xl:humble - the image for a real (physical) robot
• husarion/rosbot-xl-gazebo:humble - the image with Gazebo simulation model

Demo

Hardware

1. Flashing the firmware

Connect ROSbot to a Single Board Computer inside ROSbot XL by using a micro-USB cable. Check under which port the board is listed on your OS (in most cases it's /dev/ttyUSB0):

husarion@husarion:/$ ls -la /dev/ttyUSB*
crw-rw---- 1 root dialout 188, 0 Dec 20 17:57 /dev/ttyUSB0

docker run --rm -it --privileged \
husarion/rosbot-xl:humble \
flash-firmware.py -p /dev/ttyUSB0

Set dip switch no. 3 to "off" state (BOOT0 pin to LOW) and click the RESET button to start a newly flashed firmware.

2. Run docker

git clone https://github.com/husarion/rosbot-xl-docker
cd rosbot-xl-docker/demo
docker compose -f compose.hardware.yaml up

Simulation

Run docker

git clone https://github.com/husarion/rosbot-xl-docker
cd rosbot-xl-docker/demo
docker compose -f compose.simulation.yaml up

Building locally

docker buildx build \
-f Dockerfile.hardware \
--platform linux/amd64 \
-t rosbot-xl-docker-test \
.

ROS API

Available in rosbot_xl_ros/ROS_API.md

How to use rosbot-xl Docker image?

Find available projects below:

link	description
rosbot-xl-mapping	Create a map (using slam_toolbox) of the unknown environment with ROSbot XL controlled in LAN or over the Internet
rosbot-xl-navigation	Autonomous navigation (using navigation2) on a given map.