GitHub - slgrobotics/robots_bringup: A ROS2 package to launch different robots for different tasks

Robots Bringup (Documentation)

This repository contains instructions and other documents related to my "articubot_one" project.

It is intended to run navigation on my Turtlebot-like robots - in Gazebo simulation or with physical robots, indoors or outdoors.

Some of the docs here deal with Desktop ("Ground Station") setup and operation, while others describe setup of on-board Raspberry Pi computers.

We assume:

On the Desktop machine (Intel, AMD) - Ubuntu 24.04 64-bit desktop, ROS Jazzy desktop
On-board single board computer (SBC) - Raspberry Pi 5 8GB or similar, Ubuntu server 24.04 64-bit, ROS Jazzy base (access via ssh)

If you just want to run a simulation in Gazebo, or need to set up your Desktop with ROS Jazzy - see ROS2 Jazzy Setup (no robot hardware required).

Here are the robots:

Dragger

The outdoorsy robot Dragger (Raspberry 5, GPS) is described here: Docs/Dragger

Plucky

An indoors mapper robot Plucky is described here (Raspberry 5): Docs/Plucky

The Venerable Create 1 Turtlebot, now Jazzified

Classic Turtlebot, a visitor from the ancient times, running on Raspberry 3B under ROS2 Jazzy: Docs/Create1

Note: Purpose and Limitations of this Project

This software is not ready for production use. It has neither been developed nor tested for a specific use case. However, the license conditions of the applicable Open Source licenses allow you to adapt the software to your needs. Before using it in a safety relevant setting, make sure that the software fulfills your requirements and adjust it according to any applicable safety standards, e.g., ISO 26262.

How to use this repository

Note: you don't need to download or build anything from this repository, just browse the Docs folder. Actual robots' code is here.

Here are the likely scenarios for your work.

1. Just set up a "Clean Machine" to work with ROS2 Jazzy

Desktop workstation: see Docs/ROS-Jazzy (no robot hardware required).
Optional: Set up Raspberry on-board Raspberry Pi: see Docs/Ubuntu-RPi

2. Try my robots in Gazebo simulation, browse the code (no robot hardware needed)

See the #1 above, then follow the build and run instructions there for simulated Dragger, Plucky or Turtle.
Bonus: ROS2 Jazzy comes with Turtlebot3 simulation, try that to see Nav2 working.
To browse robot's code look under ~/robot_ws/src/articubot_one - use VS Code or your favorite IDE.

3. Work on your own codebase

articubot_one codebase offers a working example of indoors and outdoors (GPS) operation, use Copy/Paste
Fork my articubot_one repository and make your own robot in ~/robot_ws/src/articubot_one/robots folder