Pre-requisites

Autostart

Linux System Services

The robot automatically starts certain ROS2 modules on system boot via Linux system services. These services are created and managed using the |robot_autostart| package. These services ensure that essential ROS2 nodes are up and running as soon as the robot powers on. These services are created during the initial setup and installation of the robot.

To check the status of a specific ROS2 module’s startup service, use the following command:

sudo service |robot|-<ros2 module name> status

An example of this would be:

sudo service |robot|-webserver status

Auto Start Service Status

The service status will be indicated by a colored marker:

  • The red marker in the service indicates that the startup job has failed.

  • Green marker indicates everything is working correctly.

  • Grey marker indicates that the service has not started yet.

If an error such as Unit <ros2 module name>.service could not be found. Then it means that there is no startup installed. In case of red or grey marker, you may restart the service via:

sudo service |robot|-<ros2 module name> restart

Additionally, if you want to stop a specific ROS2 module, you can stop its service using the following command:

sudo service |robot|-<ros2 module name> stop

Custom Auto Start Service

If you want to modify the upstart job or add other ros launch files to it then it is recommended to add your changes to the main upstart file i.e. startup_installer.py located in the |robot_autostart| package. Once done, save the file and run the following command to update startup job. The other packages which are in auto start can be referenced for adding your own launch files.

ros2 run |robot_autostart| startup_installer.py

Coming Soon

Webserver

MBS Webserver

Test |robot_webserver| inside bold

This module should come pre-installed for heavy integration projects. It should be accessible directly at http://192.168.131.1:9000/ or the WiFi ip to which the robot is connected. The rovo_webserver can be configured via the config file in rovo_webserver ros2 package located in /opt/mybotshop/src/mybotshop/|robot_webserver|/config/robot_webserver.yaml

Login

The default login id is

  • Username: admin

  • Password: mybotshop

Dashboard

  • Enable the rovo ROS2 Services

  • Disable the rovo ROS2 Services

  • Record System rovo logs

System

  • View rovo external PC system status.

  • The battery only runs if the ROS2 drivers are enabled from the dashboard

Console

  • Movement of the rovo

  • Adapatable to new ros2 services

  • Record ROS2 bags

  • Access rovo external speaker if available

Telemetery

  • View rovo battery data

  • View rovo IMU data

  • View rovo Odometry data

Remote Desktop

  • On-board screen of the rovo computer

Navi Indoor

  • Disabled

Navi Outdoor

  • Disabled

LLM Interface

  • Disabled

Coming Soon

Teleoperation

Command Line Interface

Command Line Interface

Visualization

RViz2

To visualize the robot in RViz2, you can launch the RViz2 node with a pre-configured setup file. Use the following command:

ros2 launch |robot_viz| view_robot.launch.py

RViz2 should load with pre-configured settings. This is useful for visualizing sensor data, robot state, and other important information.

RViz2

Rigs

Coming Soon

Coming Soon

Manipulation

Coming Soon

Coming Soon

Sensors

Depth Cameras

Lidars

GPS

Auxiliary

Depth Cameras

Lidars

GPS

Auxiliary

Simulation

Gazebo

Isaac Sim

Gazebo

Isaac Sim

Packages

Robot Description

Twist Mux

EKF Localization

Robot Description

Twist Mux

EKF Localization

Debugging

Coming Soon

Coming Soon

Miscellanious

Coming Soon

Coming Soon

Installation

Installation Robot

Installation External

Installation Robot

Installation External