raspbot_v2

ROS 2 robot platform based on the Yahboom Raspbot V2. Multiple services run as Docker containers, coordinated by Docker Compose.

Sub-projects

Directory	Description
robot/	Differential-drive motor control, pan/tilt camera, and ultrasonic range sensor
lidar/	RPLIDAR A1 laser scanner
oled/	OLED display dashboard
wifi/	Wi-Fi hotspot fallback manager
camera_publisher/	V4L2 camera → ROS 2 topic publisher
webrtc_streamer/	WebRTC browser stream server
webui/	Browser-based robot controller
ansible/	Provisioning playbook for the Raspberry Pi

Setting up the robot

1. Flash Raspberry Pi OS

Use the Raspberry Pi Imager to write Raspberry Pi OS (64-bit, Lite recommended) to a microSD card.

Before writing, open Advanced options (⚙) and configure:

Setting	Value
Hostname	`raspbot-v2.local`
SSH	Enabled
Username / Password	Your preferred credentials
Wi-Fi	Your network SSID and password (if not using Ethernet)

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.

2. Provision with Ansible

The ansible/ directory contains a playbook that handles the remaining setup (enabling SPI, installing Docker). See ansible/README.md for full instructions.

Building

Prerequisites

Docker with BuildKit enabled
For cross-compilation from an amd64 host, register QEMU user-space emulation once:
```
docker run --rm --privileged tonistiigi/binfmt --install arm64
```

Build all images

docker compose build

Or build a single service:

docker compose build robot
docker compose build lidar

Deploying

Pipe images directly to the target over SSH — no intermediate file or registry needed:

# Upload all images
docker save $(docker compose config --images) | ssh <user>@raspbot-v2.local docker load

# Upload a single image
docker save raspbot_v2_oled:latest | ssh <user>@raspbot-v2.local docker load

docker compose config --images resolves all image names from the compose file, including any environment variable substitutions.

Then copy the compose file and any .env to the target:

scp docker-compose.yml <user>@raspbot-v2.local:~/

Replace <user> with the username configured in ansible/inventory.ini.

Launching

Start everything

docker compose up

To run in the background:

docker compose up -d
docker compose logs -f   # follow logs
docker compose down      # stop and remove containers

Environment variables

Create a .env file alongside docker-compose.yml to override defaults:

ROS_DOMAIN_ID=0
LIDAR_PORT=/dev/ttyUSB0
LIDAR_FRAME_ID=laser
WIFI_SSID=MyNetwork

Variable	Default	Description
`ROS_DOMAIN_ID`	`0`	ROS 2 domain — must match on all nodes
`LIDAR_PORT`	`/dev/ttyUSB0`	Host device node for the RPLIDAR
`LIDAR_FRAME_ID`	`laser`	`frame_id` in published `LaserScan` messages
`WIFI_SSID`	(empty)	Target SSID; if unset the Wi-Fi container creates a hotspot immediately
`HOTSPOT_SSID`	`raspbot-hotspot`	Fallback hotspot SSID
`HOTSPOT_PASSWORD`	`raspbot1234`	Fallback hotspot passphrase

Project layout

.
├── docker-compose.yml
├── docker-entrypoint.sh
├── robot/                  # Motor controller, pan/tilt, ultrasonic
├── lidar/                  # RPLIDAR A1
├── oled/                   # OLED display dashboard
├── wifi/                   # Wi-Fi hotspot fallback
├── camera_publisher/       # V4L2 camera → ROS 2 topic
├── webrtc_streamer/        # WebRTC browser stream
├── webui/                  # Browser-based controller UI
└── ansible/                # Raspberry Pi provisioning

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