Welcome to Dbots’s documentation!

The Dbot, a differential-wheeled robot, is specially designed for autonomous indoor robotics research. It has undergone significant hardware updates. Presently, Dbot features a Velodyne VLP16 LiDAR, a Realsense camera, an Intel Core i7 CPU, and an NVIDIA RTX 2060 GPU. Originally configured for ROS Noetic, Dbot has been recently upgraded to ROS2 Humble. This guide aims to assist students in using and adapting Dbot for their projects. For further details about resources like Dbot, visit the Autonomus Mobility Lab website.

Note

This project is under active development.

Contents

• ROS Humble
  • Why ROS Humble?
  • Improvements in ROS 2
  • ROS 2 for Existing ROS Users
  • Utilizing ROS Humble
  • ROS Humble Cheat Sheet
  • Basic Commands
  • Topic Management
  • Service Management
  • Parameter Management
  • Launch Files
  • Debugging and Logging
  • Building and Compiling
  • Key ROS Tools
  • Best Practices
  • Useful Resources
• Motors
  • ROS2 Motor Topics
  • Joystick Control
• Velodyne VLP16
  • Configuring Velodyne IP
• Realsense Camera
• Dbot Launch
• ROS2 on Multiple Machines
  • Prerequisites
  • SSH Connection
  • Configuring Joystick Control
  • Setting the ROS_DOMAIN_ID
• Usage
• API
  • Hello Dbot Publisher
  • Setup Workspace
  • Publisher Node
  • Build and Run
  • Verify
  • Hello Dbot Subscriber
  • Subscriber Node
  • Usage
  • Odom Position Subscriber
  • Subscriber Node
  • Usage