rosbot-snap

This snap packages the rosbot_ros package. It thus conveniently offers all the ROS 2 stack necessary to bring up the ROSbot robot, including IMU driver, robot state publisher, joint state publisher, controllers and more.

Installation

Install the snap as follows,

snap install rosbot

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
Interface            Plug                 Slot                            Notes
content[ros-humble]  rosbot:ros-humble    ros-humble-ros-base:ros-humble  manual
network              rosbot:network       :network                        -
network-bind         rosbot:network-bind  :network-bind                   -
serial-port          rosbot:serial-port   :ft230xbasicuart                manual                -

The interface ros-humble must be connected.

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

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

To connect a serial port run:

$ snap interface serial-port
name:    serial-port
summary: allows accessing a specific serial port
plugs:
  - rosbot
slots:
  - snapd:ft230xbasicuar

And connect the interface:

export SERIAL_PORT_SLOT=$(snap interface serial-port | yq .slots[0] | sed 's/^\([^ ]*\) .*/\1/')
sudo snap connect rosbot:serial-port $SERIAL_PORT_SLOT

Parameters

Depending on your robot hardware, the snap can be configured through the following parameters:

• driver.mecanum
• driver.namespace
• serial-port
• serial-baudrate

which can be set as follows, e.g.,

snap set rosbot driver.mecanum=True
snap set rosbot serial-port=/dev/ttyUSB0

Use

The snap ships a daemon which is automatically started once the snap is installed and configured. Therefore, there is nothing else to do than to start using your rosbot-xl.