143 lines
3.9 KiB
Markdown
143 lines
3.9 KiB
Markdown
# raspbot_v2
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ROS 2 robot platform based on the Yahboom Raspbot V2. Multiple services run as Docker containers, coordinated by Docker Compose.
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---
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## Sub-projects
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| Directory | Description |
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| [robot/](robot/README.md) | Differential-drive motor control, pan/tilt camera, and ultrasonic range sensor |
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| [lidar/](lidar/README.md) | RPLIDAR A1 laser scanner |
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| [oled/](oled/README.md) | OLED display dashboard |
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| [wifi/](wifi/README.md) | Wi-Fi hotspot fallback manager |
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| [camera_publisher/](camera_publisher/README.md) | V4L2 camera → ROS 2 topic publisher |
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| [webrtc_streamer/](webrtc_streamer/README.md) | WebRTC browser stream server |
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| [webui/](webui/README.md) | Browser-based robot controller |
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| [ansible/](ansible/README.md) | Provisioning playbook for the Raspberry Pi |
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---
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## Setting up the robot
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### 1. Flash Raspberry Pi OS
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Use the [Raspberry Pi Imager](https://www.raspberrypi.com/software/) to write Raspberry Pi OS (64-bit, Lite recommended) to a microSD card.
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Before writing, open **Advanced options** (⚙) and configure:
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| Setting | Value |
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| Hostname | `raspbot-v2.local` |
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| SSH | Enabled |
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| Username / Password | Your preferred credentials |
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| Wi-Fi | Your network SSID and password (if not using Ethernet) |
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Write the image, insert the card, and power on the Pi. Once it is reachable on the network (test with `ping raspbot-v2.local`), proceed to the next step.
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### 2. Provision with Ansible
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The [ansible/](ansible/) directory contains a playbook that handles the remaining setup (enabling SPI, installing Docker). See [ansible/README.md](ansible/README.md) for full instructions.
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---
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## Building
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### Prerequisites
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- Docker with BuildKit enabled
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- For cross-compilation from an amd64 host, register QEMU user-space emulation once:
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```bash
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docker run --rm --privileged tonistiigi/binfmt --install arm64
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```
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### Build all images
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```bash
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docker compose build
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```
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Or build a single service:
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```bash
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docker compose build robot
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docker compose build lidar
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```
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---
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## Deploying
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Pipe images directly to the target over SSH — no intermediate file or registry needed:
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```bash
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docker save raspbot_v2:latest raspbot_v2_lidar:latest \
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| ssh <user>@raspbot-v2.local docker load
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```
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Then copy the compose file and any `.env` to the target:
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```bash
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scp docker-compose.yml <user>@raspbot-v2.local:~/
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```
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Replace `<user>` with the username configured in [ansible/inventory.ini](ansible/inventory.ini).
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---
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## Launching
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### Start everything
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```bash
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docker compose up
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```
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To run in the background:
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```bash
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docker compose up -d
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docker compose logs -f # follow logs
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docker compose down # stop and remove containers
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```
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### Environment variables
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Create a `.env` file alongside `docker-compose.yml` to override defaults:
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```bash
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ROS_DOMAIN_ID=0
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LIDAR_PORT=/dev/ttyUSB0
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LIDAR_FRAME_ID=laser
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WIFI_SSID=MyNetwork
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```
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| Variable | Default | Description |
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| `ROS_DOMAIN_ID` | `0` | ROS 2 domain — must match on all nodes |
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| `LIDAR_PORT` | `/dev/ttyUSB0` | Host device node for the RPLIDAR |
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| `LIDAR_FRAME_ID` | `laser` | `frame_id` in published `LaserScan` messages |
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| `WIFI_SSID` | _(empty)_ | Target SSID; if unset the Wi-Fi container creates a hotspot immediately |
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| `HOTSPOT_SSID` | `raspbot-hotspot` | Fallback hotspot SSID |
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| `HOTSPOT_PASSWORD` | `raspbot1234` | Fallback hotspot passphrase |
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---
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## Project layout
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```
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├── docker-compose.yml
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├── docker-entrypoint.sh
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├── robot/ # Motor controller, pan/tilt, ultrasonic
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├── lidar/ # RPLIDAR A1
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├── oled/ # OLED display dashboard
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├── wifi/ # Wi-Fi hotspot fallback
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├── camera_publisher/ # V4L2 camera → ROS 2 topic
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├── webrtc_streamer/ # WebRTC browser stream
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├── webui/ # Browser-based controller UI
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└── ansible/ # Raspberry Pi provisioning
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```
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