Robotino Access ROS2 setup

1. ROS2 Setup

• Install ROS 2 either from the official repositories (for Ubuntu) or via our copr (for Fedora)

2. Setup ssh

• Update /etc/hosts:

172.26.108.81 robotino-base-1 rb1                                                                                     
172.26.108.82 robotino-base-2 rb2                                                                                      
172.26.108.83 robotino-base-3 rb3

• Update ~/.ssh/config:

Host rb1                                                                                                               
 User robotino                                                                 
Host rb2                                                                        
 User robotino                                                                 
Host rb3                                                                        
 User robotino                                                                 

• Copy your identity to a robot for passwordless login
  ssh-copy-id rb3
  -> Accessing the robots is now possible via ssh rb(1-3)

Further notes:

Starting screen (sf) will automaticly start/enter a screen session with different shells for the needed shortcuts already setup to start/use the robotino
For further information about how to use screen, see this cheat sheet

The screen session supports two different modes, per default a launch with fawkes robotino driver is displayed. By pressing ctrl + a followed by ctrl + e one can switch to a layout for starting the robotino using the ROS driver. To switch back use ctrl + a followed by ctrl + w.

3. vnc session

to launch a vnc session on the robot, first make sure there is a session running:

vncserver -list

If ther is no active Display, start one:

vncserver

Now you can connect to the robot from your machine using:

# vncviewer <robot-name>:<display>
vncviewer rb1:1

3. Map/Localization

To interact with the robotino published messages, the Domain id has to be exported: export ROS_DOMAIN_ID=41
Using rviz2 you should now be able to access the messages and visualize the map, laserlines etc. if setup correctly. Frames (X should be exchanges with the wanted robotino nr):

• laserscan: /robotinobaseX/fawkes_scans/Laser_urg_filtered_360 or /robotinobaseX/scan
• Add TF
• Map /robotinobaseX/global_costmap/costmap
• Costmap /robotinobaseX/global_costmap/map