HepoBot

ROS2 Humble and Gazebo Harmonic Setup for HepoBot at RRC, IIIT (Summer School 2025)

How to Use

• Clone the repo with submodules

  git clone https://github.com/rtarun1/HepoBot.git --recurse-submodules
  cd HepoBot
  # Open VSCode 
  code .

Note

Change the ROS_DOMAIN_ID to a random number between 0 to 101 inside the devcontainer.json file.

• Build and Source the workspace

• To enter the container

  • Open Command Pallete with Ctrl+Shift+P
  • Select Dev Containers: Rebuild and Reopen in Container

  It is suggested to use the Action Buttons to build, but if you're unable due to some reason, you can use the commands below

  # Make sure to be in ~/ros2_ws
  colcon build --symlink-install 
  source install/setup.bash

• To setup Permission for LiDAR and Motor Driver

  sudo chmod +777 /dev/ttyACM0 #For Motor Driver
  sudo chmod +777 /dev/ttyUSB0 #For LiDAR
  

Note

If /dev/ttyUSB0 is not visible, run sudo apt remove brltty locally.

• Robot Launch

  ros2 launch robot_bringup robot_bringup.launch.py use_rviz:=<bool> use_sim_time:=<bool>

  • Mapping

  ros2 launch robot_bringup online_async_launch.py use_sim_time:=<bool>

  • Navigation

  ros2 launch robot_bringup nav2.launch.py use_sim_time:=<bool>

  • Keyboard Telep

  ros2 run robot_bringup keyboard_teleop_constant.py

  Available arguments are as follows:

  Argument	Default Value	Description
  use_sim_time	False	Launch in simulation mode (True for simulation, False for hardware connection).
  record	False	Enable recording to a rosbag.
  use_rviz	False	Launch RViz on startup.