rosbot-xl-nav-snap

The snap provides mapping, localization and navigation capabilities to the ROSbot-XL.

Installation

Install the snap as follows,

snap install rosbot-xl-nav

Setup

Upon installation, depending on your operating system, you may have to manually connect the snap interface. You can verify that with the following command,

$ snap connections rosbot-xl-nav
Interface            Plug                        Slot                            Notes
content[ros-humble]  rosbot-xl-nav:ros-humble    ros-humble-ros-base:ros-humble  manual
network              rosbot-xl-nav:network       :network                        -
network-bind         rosbot-xl-nav:network-bind  :network-bind                   -

The interface ros-humble must be connected.

If it isn't, you can issue the following command,

snap connect rosbot-xl-nav:ros-humble ros-humble-ros-base

Use

Slam

This application allows for mapping the environment. It can be launch as follows,

snap start rosbot-xl-nav.slam

One can then drive the robot around to create a 2D representation of the environment. Once the area is covered, stop the application with,

snap stop rosbot-xl-nav.slam

Upon stopping the application automatically save the map at $SNAP_COMMON/maps/current_map.{png,yaml}.

The slam configuration file can be found at $SNAP_COMMON/config/slam_params.yaml and can thus be edited. Shall you want to reinitialise it, you can simply issue the command rosbot-xl-nav.reset-config which will reset all configuration files.

Localisation

The localisation allows the robot, as its name suggests, to localise itself in the map created by the slam application. Note that it automatically uses the last map created by the slam application. It can be started and stopped respectively with,

snap start rosbot-xl-teleop.localisation

snap stop rosbot-xl-teleop.localisation

The slam configuration file can be found at $SNAP_COMMON/config/localization_params.yaml and can thus be edited. Shall you want to reinitialise it, you can simply issue the command rosbot-xl-nav.reset-config which will reset all configuration files.

Navigation

The navigation application allows the robot to autonomously move around to a defined goal while avoiding obstacles. Note that it automatically uses the last map created by the slam application. It can be started and stopped respectively with,

rosbot-xl-teleop.navigation

The slam configuration file can be found at $SNAP_COMMON/config/nav2_params.yaml and can thus be edited. Shall you want to reinitialise it, you can simply issue the command rosbot-xl-nav.reset-config which will reset all configuration files.

Notes

Note This snap is part of an integrated snaps deployment.

Other recommended snaps to be installed are,

• micro-xrce-dds-agent
• sllidar-ros2
• rosbot-xl-teleop
• rosbot-xl-nav