rosbot-xl-snap

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

Installation

Install the snap as follows,

snap install rosbot-xl

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

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

Parameters

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

• mecanum
• include-camera-mount
• camera-model
• lidar-model

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

snap set rosbot-xl mecanum=True

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.

Note This snap is part of an integrated snaps deployment.

Other recommended snaps to be installed are,

• micro-xrce-dds-agent
• sllidar-ros2
• rosbot-xl-teleop
• rosbot-xl-nav