RT1 Robot

Project Overview

RT1 Robot is a ROS 2-based project for controlling and managing the RT1 robotic platform. This project provides a comprehensive software stack for robot navigation, hardware interfacing, and sensor integration, including support for the Hokuyo LiDAR.

Repository Structure

rt1_robot/
├── src/
│   ├── rt1_bringup/          # Launch files and parameters
│   ├── rt1_description/      # URDF models and visualizations
│   ├── rt1_hardware/         # Hardware interface
│   ├── rt1_navigation/       # Navigation stack configuration
│   └── rt1_drivers/          # Custom drivers for sensors
├── .github/                  # CI/CD workflows
├── docker/                   # Dockerfile for containerized development
├── README.md
├── LICENSE
├── package.xml
└── setup_rt1.sh              # Main setup script

Prerequisites

• ROS 2 Humble
• Ubuntu 22.04 LTS
• Git
• Colcon build tools

Setup Instructions

1. Clone the repository:

   git clone https://github.com/anh0001/rt1_robot.git
   cd rt1_robot

2. Initialize and update submodules:

   git submodule update --init --recursive

3. Run the setup script:

   ./setup_rt1.sh

   This script will:

   • Set up the RT1 and Hokuyo LiDAR Serial Comms (add user to dialout group, create udev rule)
   • Build the workspace
   • Source the setup files

4. If you've been added to the dialout group, log out and log back in for the changes to take effect.

Usage

To launch floxglove bridge:

ros2 launch foxglove_bridge foxglove_bridge_launch.xml

Import the foxglove panels.

To launch the RT1 robot with basic functionality:

ros2 launch rt1_bringup rt1_bringup.launch.py

To launch the RT1 robot with SLAM and navigation:

ros2 launch rt1_bringup rt1_slam_nav.launch.py

To send sensors data through MQTT:

ros2 launch rt1_bringup rt1_mqtt_bridge.launch.py

To launch the RT1 robot with teleop manual control:

ros2 launch rt1_bringup rt1_teleop.launch.py

For navigation:

ros2 launch rt1_navigation navigation.launch.py

Troubleshooting

• If you have issues with the Hokuyo LiDAR:

  1. Ensure your user is in the dialout group
  2. Check if the udev rule is set up correctly
  3. Verify that the LiDAR is connected and recognized at /dev/hokuyo

  You can re-run the RT1 Serial and Hokuyo setup script at any time:

  ./src/rt1_drivers/scripts/setup_rt1_serial.sh
  ./src/rt1_drivers/scripts/setup_hokuyo.sh

Support

For support, please open an issue in the GitHub repository or contact the maintainers directly.

Acknowledgements

• RT.Works for the RT1 robotic platform
• The ROS 2 community for their invaluable resources and support
• Hokuyo for the LiDAR sensor