TurtleBot3

Authors:

• Mattia Dei Rossi - 885768@stud.unive.it

On robot / simulation

1. Install zenoh-bridge-ros2dds

echo "deb [trusted=yes] https://download.eclipse.org/zenoh/debian-repo/ /" | sudo tee -a /etc/apt/sources.list > /dev/null
sudo apt update
sudo apt install zenoh-bridge-ros2dds

2. Launch simulation or real robot with navigation stack

export ROS_DOMAIN_ID=111
export ROS_LOCALHOST_ONLY=1
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
ros2 launch webots_ros2_turtlebot robot_launch.py nav:=true

Launch camera node

ros2 run usb_cam usb_cam_node_exe

3. Launch zenoh bridge

# sudo ip l set lo multicast on
export ROS_DOMAIN_ID=111
export ROS_LOCALHOST_ONLY=1
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
zenoh-bridge-ros2dds -l tcp/0.0.0.0:7447 --rest-http-port 8000

On client

0. Set in docker compose file

zenoh-bridge:
image: eclipse/zenoh-bridge-ros2dds:nightly
container_name: zenoh-bridge
environment:
    - ROS_DISTRO=humble
    - ROS_DOMAIN_ID=1
    - ROS_LOCALHOST_ONLY=1
    - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
network_mode: host
# networks:
#   - turtlebot_net
# ports:
#   - 7449:7447
#   - 8002:8002
command: -e tcp/<robot-ip>:7447 

1. Run Rosbridge + App + FoxgloveStudio + zenoh bridge

docker compose up

2. Go to

• ( App ) Web App http://localhost:80/
• ( FoxgloveStudio ) Foxglove http://localhost:8080/

4. Test Zenoh REST API

curl http://<robot-ip>:8000/@ros2/turtlebot3/route/topic/**

Expected result