m5p3nc3r/ros-raspbot-v2
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Add ros2 launch and make it the default

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This commit is contained in:
Matt Spencer
2026-04-16 22:02:50 +00:00
parent ecbd72e9db
commit 6af4ba10bf
5 changed files with 87 additions and 56 deletions
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Dockerfile
+2 -1
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@@ -25,6 +25,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
ros-${ROS_DISTRO}-geometry-msgs \
ros-${ROS_DISTRO}-std-msgs \
ros-${ROS_DISTRO}-sensor-msgs \
ros-${ROS_DISTRO}-launch-ros \
python3-smbus \
&& rm -rf /var/lib/apt/lists/*
@@ -42,4 +43,4 @@ COPY docker-entrypoint.sh /docker-entrypoint.sh
RUN chmod +x /docker-entrypoint.sh
ENTRYPOINT ["/docker-entrypoint.sh"]
CMD ["ros2", "run", "my_robot", "motor_controller"]
CMD ["ros2", "launch", "my_robot", "robot.launch.py"]
README.md
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@@ -165,7 +165,7 @@ Replace `matt` with the username configured in [ansible/inventory.ini](ansible/i
## Launching
The container needs access to the I²C bus that the motor controller is wired to. Pass only that device rather than running the container in privileged mode:
The default `CMD` starts both nodes together via the launch file. The container needs access to the I²C bus — pass only that device rather than running privileged:
```bash
docker run --rm \
@@ -175,11 +175,11 @@ docker run --rm \
my_robot:latest
```
If your board exposes the motor controller on a different bus (check with `ls /dev/i2c-*` on the host), substitute the correct device node (e.g. `--device /dev/i2c-0`).
If your board exposes the controller on a different bus (check with `ls /dev/i2c-*` on the host), substitute the correct device node (e.g. `--device /dev/i2c-0`).
### Camera orientation node
### Overriding parameters at launch
Override the default `CMD` to run the camera orientation node instead:
Launch arguments can be appended after the image name:
```bash
docker run --rm \
@@ -187,63 +187,22 @@ docker run --rm \
--device /dev/i2c-1 \
--env ROS_DOMAIN_ID=0 \
my_robot:latest \
ros2 run my_robot camera_orientation
ros2 launch my_robot robot.launch.py \
wheel_base:=0.25 max_speed:=0.8 tilt_center_deg:=45.0
```
#### Overriding parameters at launch
Available launch arguments:
```bash
docker run --rm \
--network=host \
--device /dev/i2c-1 \
--env ROS_DOMAIN_ID=0 \
my_robot:latest \
ros2 run my_robot camera_orientation \
--ros-args -p pan_center_deg:=90.0 -p tilt_center_deg:=45.0
```
#### Commanding the camera from the host
Pan to centre (90°) and tilt to 30°:
```bash
ros2 topic pub --once /joint_command sensor_msgs/msg/JointState \
"{name: ['pan', 'tilt'], position: [1.5708, 0.5236]}"
```
You can command a single axis by omitting the other joint name:
```bash
# Pan only
ros2 topic pub --once /joint_command sensor_msgs/msg/JointState \
"{name: ['pan'], position: [0.0]}"
```
#### Verifying orientation state
```bash
ros2 topic echo /joint_states
```
---
### Overriding parameters at launch (motor controller)
ROS 2 parameters can be passed through `--ros-args`:
```bash
docker run --rm \
--network=host \
--device /dev/i2c-1 \
--env ROS_DOMAIN_ID=0 \
my_robot:latest \
ros2 run my_robot motor_controller \
--ros-args -p wheel_base:=0.25 -p max_speed:=0.8
```
| Argument | Default | Description |
|---|---|---|
| `wheel_base` | `0.3` | Distance between left and right wheels (m) |
| `max_speed` | `1.0` | Maximum motor speed in library units |
| `pan_center_deg` | `90.0` | Pan angle at startup and shutdown (degrees) |
| `tilt_center_deg` | `60.0` | Tilt angle at startup and shutdown (degrees) |
### Sending velocity commands from the host
With the container running, publish a `cmd_vel` message from another terminal (requires ROS 2 installed on the host or a second container on the same network):
With the container running, publish from another terminal (requires ROS 2 on the host or a second container on the same network):
```bash
# Drive forward at 0.2 m/s
@@ -259,10 +218,31 @@ ros2 topic pub --once /cmd_vel geometry_msgs/msg/Twist \
"{linear: {x: 0.0}, angular: {z: 0.0}}"
```
### Commanding the camera from the host
Pan to centre (90°) and tilt to 30°:
```bash
ros2 topic pub --once /joint_command sensor_msgs/msg/JointState \
"{name: ['pan', 'tilt'], position: [1.5708, 0.5236]}"
```
A single axis can be commanded by omitting the other joint name:
```bash
# Pan only
ros2 topic pub --once /joint_command sensor_msgs/msg/JointState \
"{name: ['pan'], position: [0.0]}"
```
### Verifying telemetry
```bash
# Wheel speeds
ros2 topic echo /current_wheel_speeds
# Camera orientation
ros2 topic echo /joint_states
```
---
@@ -277,6 +257,8 @@ ros2 topic echo /current_wheel_speeds
│ └── my_robot/
│ ├── package.xml # ROS package manifest
│ ├── setup.py # ament_python build definition
│ ├── launch/
│ │ └── robot.launch.py # Starts both nodes together
│ └── my_robot/
│ ├── __init__.py
│ ├── motor_controller_node.py # Differential-drive motor control
src/my_robot/launch/robot.launch.py
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@@ -0,0 +1,45 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
def generate_launch_description():
return LaunchDescription([
# ── Motor controller arguments ────────────────────────────────────
DeclareLaunchArgument('wheel_base', default_value='0.3',
description='Distance between left and right wheels (m)'),
DeclareLaunchArgument('max_speed', default_value='1.0',
description='Maximum motor speed in library units'),
# ── Camera orientation arguments ──────────────────────────────────
DeclareLaunchArgument('pan_center_deg', default_value='90.0',
description='Pan angle at startup and shutdown (degrees)'),
DeclareLaunchArgument('tilt_center_deg', default_value='60.0',
description='Tilt angle at startup and shutdown (degrees)'),
# ── Nodes ─────────────────────────────────────────────────────────
Node(
package='my_robot',
executable='motor_controller',
name='motor_controller',
parameters=[{
'wheel_base': LaunchConfiguration('wheel_base'),
'max_speed': LaunchConfiguration('max_speed'),
}],
output='screen',
),
Node(
package='my_robot',
executable='camera_orientation',
name='camera_orientation',
parameters=[{
'pan_center_deg': LaunchConfiguration('pan_center_deg'),
'tilt_center_deg': LaunchConfiguration('tilt_center_deg'),
}],
output='screen',
),
])
src/my_robot/package.xml
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@@ -10,6 +10,8 @@
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>sensor_msgs</exec_depend>
<exec_depend>launch</exec_depend>
<exec_depend>launch_ros</exec_depend>
<buildtool_depend>ament_python</buildtool_depend>
src/my_robot/setup.py
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@@ -9,6 +9,7 @@ setup(
data_files=[
('share/ament_index/resource_index/packages', ['resource/' + package_name]),
('share/' + package_name, ['package.xml']),
('share/' + package_name + '/launch', ['launch/robot.launch.py']),
],
install_requires=['setuptools'],
zip_safe=True,