ROSbot

Description

The rosbot snap ships everything needed to run the ROSbot — controller, robot state publisher and more — based on the [rosbot_ros](https://github.com/husarion/rosbot_ros) ROS 2 driver. Models: ROSbot XL, 3 / 3 PRO, 2R / 2 PRO.

Installation

Install on the ROSbot's SBC:

sudo snap install rosbot

Usage

After installation, add interfaces, set the robot model and start the driver:

sudo /var/snap/rosbot/common/post_install.sh
sudo snap set rosbot driver.model=rosbot-xl   # or 'rosbot' for non-XL models
sudo rosbot.start

The robot is now operational. Drive it with sudo rosbot.teleop, or plug in a Logitech F710 dongle (X mode, hold LB). Both publish to manual/cmd_vel, which outranks navigation.

Apps

• rosbot.start / rosbot.stop - Start/stop the driver daemon.
• rosbot.navigation-start / rosbot.navigation-stop - Start/stop autonomous navigation (Nav2 + SLAM). Startup checks name whatever is missing instead of leaving Nav2 idle. Needs sudo snap install husarion-rplidar.
• rosbot.navigation-goal <x> <y> [yaw] - Drive to a pose in the map frame (metres, yaw in radians) and wait for the outcome.
• rosbot.teleop - Drive from a terminal (teleop_twist_keyboard); overrides navigation while you hold a key.
• rosbot.flash - Flash the STM32F4 firmware.
• rosbot.arm-activate / rosbot.arm-deactivate - Toggle the arm (if fitted).

Parameters

Set with snap set rosbot <key>=<value>, inspect with snap get rosbot. Full reference in the README.

The driver namespace:

• driver.model: "" - rosbot or rosbot-xl. Required before the driver starts.
• driver.configuration: basic - Selects the URDF and starts the manipulator. rosbot-xl also accepts telepresence, autonomy, manipulation, manipulation-pro.
• driver.mecanum: True/False (tracks driver.model) - mecanum vs differential drive controller.
• driver.serial-port: auto - Serial port for firmware (e.g., /dev/ttyUSB0).
• driver.backend: mavlink - Robot-link backend: mavlink (any RMW, Zenoh default) or microros (FastDDS-only).
• driver.current-animation: ready - ROSbot XL LED animation; none publishes nothing. Built-ins: ready, navigation, turn_off, rainbow. Own <name>.png + <name>.yaml go in config_dir/rosbot_utils/animations.

The navigation namespace (Nav2, used by rosbot.navigation-start):

• navigation.controller: mppi - dwb, mppi or rpp.
• navigation.slam: True - Build a map while driving. False loads navigation.map instead.
• navigation.map: /var/snap/rosbot/common/maps/map.yaml - Map loaded when navigation.slam=False.
• navigation.map-save-path: /var/snap/rosbot/common/maps/map - SLAM autosave target, without extension. Survives refreshes.

An RViz layout is copied to /var/snap/rosbot/common/rviz/nav2.rviz; copy it to a laptop and run rviz2 -d nav2.rviz.

The ros namespace:

• ros.namespace: "" - Namespace for all topics and transforms.
• ros.domain-id: 0 - Sets ROS_DOMAIN_ID.
• ros.localhost-only: 0 - Sets ROS_LOCALHOST_ONLY.
• ros.transport: udp - RMW/transport profile: zenoh/<profile>, rmw_zenoh_cpp, udp, shm, udp-lo, rmw_fastrtps_cpp, rmw_cyclonedds_cpp. Files in /var/snap/rosbot/common/rmw/.

Advanced configuration: per-node parameters and sensor positions live in /var/snap/rosbot/current/config_dir/ (overwritten on snap updates).

Chaining: embeds husarion-agent as chain owner — the ROS network and custom RMW profiles set here (or in the cockpit Manage tab) propagate to chained snaps. See README.