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ROSMASTER R2📖
1.Preparation and First Trial
  • 1.1 Accessories introduction
  • 1.2 Precautions for battery
  • 1.3 First Trial
2.Assembly steps
  • Installaction Video
3.ROS1-Remote control course
  • 3.1 APP remote control
  • 3.2 Model aircraft remote control
  • 3.3 Handle remote control
4.ROS1-Hardware course
  • 4.1 About expansion board_V3.0
  • 4.1 About expansion board_V1.0
  • 4.2 STM32 Development environment
  • 4.3 Button to control the buzzer to whistle
  • 4.4 FreeRTOS application
  • 4.5 Serial communication
  • 4.6 SBUS model aircraft remote control
  • 4.7 CAN bus communication
  • 4.8 RGB colorful light bar
  • 4.9 Timer interrupt to control PWM servo
  • 4.10 Control serial port servos
  • 4.11 Nine-axis attitude sensor to obtain data
  • 4.12 Control motor
  • 4.13 Timer captures the encoder data
  • 4.14.1 Kinematic Analysis of Mecanum Wheel
  • 4.14.2 Kinematics Analysis of Ackermann Car
  • 4.15 PID control robot movement
5.ROS1-Basic course
  • 5.1 Update the firmware
  • 5.2 Turn off the self-starting process at startup
  • 5.3 Install the Rosmaster driver library
  • 5.4 Buzzer whistle
  • 5.5 Control PWM servo
  • 5.6 RGB colorful light bar special effects display
  • 5.7 Control motor
  • 5.8 Control robot movement
  • 5.9 Control Serial Servo
6.ROS1-Linux operating system
  • 6.1 Virtual machine installation and use
  • 6.2 Linux basics
  • 6.3 Remote control
  • 6.4 Multi-machine communication configuration
  • 6.5 Static IP and hotspot mode
  • 6.6 Bind the device ID
  • 6.7 Web page real-time monitoring
  • 6.8 Expansion tutorial
  • 6.9.1 Jetson Nano write sytem
  • 6.9.2 Jetson Xavier NX write system
  • 6.9.3 Jetson TX2 NX write system
  • 6.9.4 Raspberry Pi write system
7.ROS1-Docker-pi5
  • 1、Docker overview and docker installation
  • 2、Common commands for docker image containers
  • 3、Docker images deeply understand and publish images
  • 4、Docker hardware interaction and data processing
  • 5、Enter the bot's docker container
  • 6、Robot development environment construction in Docker
  • 7、How customers can update docker images in the future
8.ROS1-ROS basic course
  • 1.ROS introduction
  • 2.ROS installation
  • 3.ROS common command tools
  • 4.ROS workspace
  • 5.ROS function package
  • 6.ROS node
  • 7.ROS topic publisher
  • 8.ROS topic subscribers
  • 9.ROS service client
  • 10.ROS service server
  • 11.ROS action client
  • 12.ROS action server
  • 13.ROS custom message reception
  • 14.ROS-launch file
  • 15.ROS-TF transformation
  • 16.ROS parameter service
  • 17.ROS-rviz use
  • 18.ROS-rqt tool usage
  • 19.Topic message recording and playback
  • 20.urdf model introduction
  • 21.gazebo introduction
  • 22.ROS distributed communication
9.ROS1-OpenCV courses
  • 9.1 Getting started with Open Source CV
  • 9.2 Geometric transformation
  • 9.3 Image processing and drawing text line segments
  • 9.4 Image beautification
  • 9.5 Opencv application
  • 9.6 AR vision
  • 9.7 AR QR code
  • 9.8 ROS+Opencv foundation
  • 9.9 ROS+Opencv application
  • 9.10 Data transformation and point cloud
  • 9.11 MediaPipe development
10.ROS1-Robot control course
  • 10.1 PID algorithm theory
  • 10.2 Robot PID debugging
  • 10.3 Robot information release
  • 10.4 Robot keyboard control
  • 10.5 Robot handle control
  • 10.6 Robot state estimation
  • 10.7 Robot calibration
  • 10.8 Robot URDF model
11.ROS1-Depth camera course
  • 11.1 How to use the Astra camera
  • 11.2 Astra camera calibration
  • 11.3 Astra Color Tracking
  • 11.4 Astra Object Tracking
  • 11.5 Visual tracking autopilot
  • 11.6 Pure visual 2D mapping and navigation
  • 11.7 RTAB-Map 3D mapping navigation
  • 11.8 ORB_SLAM2 basics
  • 11.9 ORB_SLAM2_Octomap
12.ROS1-Lidar course
  • 11.1 Lidar basic-SLAM
  • 11.1 Lidar basic-EAI
  • 11.2 Lidar avoiding
  • 11.3 Lidar guard
  • 11.4 Lidar follow
  • 11.5 Patrol game
  • 11.6 gmapping mapping
  • 11.7 hector mapping
  • 11.8 karto mapping
  • 11.9 cartographer mapping
  • 11.10 rrt_exploration mappin
  • 11.11 AMCL
  • 11.12 Navigation and avoiding
  • 11.13 APP mapping and navigation
  • 11.14 TEB path planning algorithm
13.ROS1-Multi-robot control course
  • 13.1 Multi-machine handle control
  • 13.2 Multi-machine navigation
  • 13.3 Multi-machine formation
  • 13.4 Multi-machine surround
14.ROS1-Deep learning courses
  • 14.1 KNN recognizes handwritten digits
  • 14.2 Basic use of TensorFlow
  • 14.3 Basic use of PyTorch（jetson）
  • 14.4 yolov5 model training（jetson）
  • 14.5 yolov5+tensorrt acceleration（jetson）
  • 14.6 yolov4-tiny
15.ROS1-Voice control courses
  • 15.0 How to use old voice module in new image
  • 15.1 Introduction of voice control module-NEW
  • 15.2 Voice control module port binding-NEW
  • 15.1 Introduction of voice control module-Old
  • 15.2 Voice control module port binding-Old
  • 15.3 Voice control car movement
  • 15.4 Voice control Autopilot
  • 14.5 Voice control color recognition
  • 15.6 Voice control color tracking
  • 15.7 Voice control multi-point navigation
16.ROS1-Model training Autopilot
  • 16.0 ReadMe
  • 16.1 yolov5 to train traffic signs
  • 16.2 TensorRt acceleration identification mark
  • 16.3 Road sign indication function description
  • 16.4 Collect data
  • 16.5 Training model
  • 16.6 Model transformation and application
  • 16.7 AI Autopilot
17. ROS2-Remote control course
  • 1. APP remote control
  • 2. Model aircraft remote control
  • 3. Handle remote control
18.ROS2-Hardware course
  • 1. Expansion board introduction_V3.0
  • 1. Expansion board introduction_V1.0
  • 2. STM32 development environment build
  • 3. Key control buzzer sounding
  • 4. FreeRTOS applications
  • 5. Serial communication
  • 6. SBUS model airplane remote control
  • 7. CAN bus communication
  • 8. RGB colorful light bar
  • 9. Timer interrupt control PWM servos
  • 10. Control serial servos
  • 11. Nine-axis attitude sensor acquires data
  • 12. Control motor forward and reverse
  • 13. Timer Capture Encoder Data
  • 14. Theory of Robot Kinematics Analysis
  • 14.1.Mecanum wheel
  • 14.2.Ackerman
  • 14.3.4WD
  • 15. PID control of robot motion
19. ROS2-Basic course
  • 1. Update the firmware of the expansion board
  • 2.Close the large self-starting program at boot
  • 3. Install Rosmaster driver library
  • 4. Buzzer sounding
  • 5. Control PWM servo
  • 6. RGB colorful light bar special effects show
  • 7. Control motor forward and reverse
  • 8. Controlling robot motion
  • 9. Control serial servos
20. ROS2-Linux operating systemnew
  • 01. Virtual Machines
  • 02. Linux Basics
  • 03. Remote control
  • 04. Multi-computer communication configuration
  • 05. Static ip and hotspot mode
  • 06. Bind device ID
  • 07.Webpage real-time monitoring
  • 08. Expansion Tutorial
  • 09-1.Jetson Nano write system file
  • 09-2. Raspberry Pi write system file
  • 09-3.Orin write system
  • 10.Jetpack old system upgraded to SUPER systemnew
21.ROS2 -Docker（Nano Pi）
  • 1. docker overview and docker installation
  • 2. docker image container common command
  • 3. docker image in-depth understanding and publishing images
  • 4. docker hardware interaction and data processing
  • 5. Enter the docker container of the robot
  • 6. docker in the robot development environment build
  • 7. Customer's method of updating docker images in the future
22.ROS2- ROS2 Basic Tutorial
  • 1.Introduction to ROS2
  • 2.ROS2 install Humble
  • 3.ROS2 development environment
  • 4.ROS2 workspace
  • 5.ROS2 function package
  • 6.ROS2 node
  • 7.ROS2 topic communication
  • 8.ROS2 service communication
  • 9.ROS2 action communication
  • 10.ROS2 custom interface message
  • 11.ROS2 parameter service case
  • 12.ROS2 meta-function package
  • 13.ROS2 distributed communication
  • 14.ROS2 DDS
  • 15.ROS2 time related API
  • 16.ROS2 common command tools
  • 17.ROS2 rviz2 use
  • 18.ROS2 Rqt Toolbox
  • 19.ROS2 Launch startup file configuration
  • 20.ROS2 recording and playback tool
  • 21.ROS2 URDF model
  • 22.ROS2 Gazebo simulation platform
  • 23.ROS2 TF2 coordinate transformation
23. ROS2-Robot control course
  • 1. PID algorithm theory
  • 2. Robot information release
  • 3. Robot control
  • 4. Robot state estimation
  • 5. Robot calibration
  • 6. URDF model
24. ROS2-Lidar course
  • 1-1. Introduction and use of SLAM lidar
  • 1-2. Introduction and use of 4ROS lidar
  • 2. Lidar obstacle avoidance fun gameplay
  • 3. Lidar tracking fun gameplay
  • 4. Patrol function play
  • 5. gmapping map building algorithm
  • 6. cartographer building algorithm
  • 7. Navigation and obstacle avoidance
  • 8. Rosmaster_R2 using the app to build maps
  • 9. Rosmaster_R2 navigating with the app
25. ROS2-OpenCV courses
  • 1. opencv basic course
  • 2. ROS+opencv application
  • 3. QR code creation and recognition
  • 4. AR Vision
  • 5. mediapipe fun gameplay
  • 6. Patrol line autopilot
26. ROS2-Depth camera courses
  • 1. Depth camera use
  • 2. Camera calibration
  • 3. Color tracking
  • 4. KCF object tracking
  • 5. ORB_SLAM2 Basics
  • 6. ORB_SLAM2 PCL mapping
  • 7. ORB_SLAM2 Octomap mapping
  • 8. RTAB-Map 3D mapping navigation
27.ROS2- Voice control courses
  • 0. How to use old voice module in new image
  • 1.1 Introduction to the module-New
  • 1.2 Voice Control Module Port Binding-New
  • 1.3 Introduction to the module-Old
  • 2. Voice control car movement
  • 3. Voice control autopilot
  • 4. Voice control color recognition
  • 5. Voice control color tracking
  • 6. Voice control multi-point navigation
28.Deep learning courses（SUPER）
  • 1.KNN recognizes handwritten digitsnew
  • 2.Basic use of TensorFlownew
  • 3.Basic use of PyTorch（jetson）new
  • 4.YOLOv11Model conversion（SUPER）new
  • 5.YOLOv11Dataset annotation（SUPER）new
  • 6.YOLOv11Model conversion + tensorrt acceleration（SUPER）new
  • 7.YOLOv11Object recognition（SUPER）new
29. ROS2-Multi-robot control
  • 1. Multi-robot control
  • 2. Multi-robot navigation
LLM tutorial
1.Development environment
  • 0. Model usage instructions
  • 1.Environments deployment
  • 2.Dialogue platform installation
2.Jetson Nano B01
  • 1.Qwen2 model
  • 2.TinyLlama model
  • 3.Phi-3 model
  • 4.Gemma model
  • 5.Orca Mini model
  • 6.StarCoder2 model
  • 7.DeepSeek-R1 model
  • 8.Expand LLaVA-Phi3
3.Jetson Orin NXNANO
  • 1.Llama3 model
  • 2.Qwen2 model
  • 3.Phi-3 model
  • 4.Gemma model
  • 5.WizardLM2 model
  • 6.Codellama model
  • 7.DeepSeek-R1 model
  • 8.Orca Mini model
  • 9.StarCoder2 model
  • 10.TinyLlama model
  • 11.Expand LLaVA
  • 12.Expand LLaVA-Phi3
4.Raspberry Pi 5B
  • 1.Meta AI Llama3 model
  • 2.Qwen2 model
  • 3.Phi-3 model
  • 4.Gemma model
  • 5.WizardLM2 model
  • 6.Meta AI Codellama model
  • 7.DeepSeek-R1 model
  • 8.Expand LLaVA
FAQ
  • 1.Using your own Jetson board, car cannot start normally
Download
  • RemoteCtrl_APP(iOS/Android)
  • Mapping_APP(iOS_Android)
  • Instruction Manual
  • SystemFile_ROS1
  • SystemFile_ROS2
  • SystemFile_ROS2_OrinNANOSUPER
  • SystemFile_ROS2_OrinNXSUPER
  • VM software
  • Code
  • Jetson_Boot_USB.tar.gz
  • Autopilot Annex
  • Other_Annex_File
  • LLM_SystemFile
  • ROS2_Basic_VM
Download ZIP

Welcome to ROSMASTER R2 repository

6. docker in the robot development environment build

6. docker in the robot development environment build

6. docker in the robot development environment build

 

6. docker in the robot development environment build6.1. Using jupyter lab to access docker6.2 Using vscode to access docker6.2.1. Remote Configuration6.2.2. vscode configuration6.2.2.1. Download and install vscode6.2.2.2. vscode configuration ssh remote login to the host computer6.2.2.3. Entering the robot container6.2.2.4, vscode remote host configuration docker environment6.2.2.5 Configuring Confidential Login

The operating environment and hardware and software reference configuration are as follows:

  • Reference model: ROSMASTER X3
  • Robot hardware configuration: Arm series main control, Silan A1 LiDAR, AstraPro Plus depth camera.
  • Robot system: Ubuntu (version not required) + docker (version 20.10.21 and above)
  • PC virtual machine: Ubuntu (20.04) + ROS2 (Foxy)
  • Usage scenario: use on a relatively clean 2D plane

 

6.1. Using jupyter lab to access docker

  1. Enter the container, see [5. Enter the docker container of the robot], and execute the following command:

Note: When using jupyter lab in a docker container, you must run the docker container with host networking: add the "--net=host" parameter when running the container.

xxxxxxxxxx
root@ubuntu:/# jupyter lab --allow-root
[I 2023-04-24 09:27:45.265 ServerApp] Package jupyterlab took 0.0001s to import
[I 2023-04-24 09:27:45.277 ServerApp] Package jupyter_server_fileid took 0.0096s to import
[I 2023-04-24 09:27:45.297 ServerApp] Package jupyter_server_terminals took 0.0190s to import
[I 2023-04-24 09:27:45.429 ServerApp] Package jupyter_server_ydoc took 0.1301s to import
[I 2023-04-24 09:27:45.431 ServerApp] Package nbclassic took 0.0001s to import
..................
  1. other device view, open in windows or ubuntu browser (must be on the same LAN, 192.168.2.102 is the IP address inside the docker container)
xxxxxxxxxx
http://192.168.2.102:8888/lab
​
输入密码：yahboom，即可进入jupyter lab
Enter the password: yahboom to access jupyter lab

image-20230424173324001

 

The following directory is the project path for the robot:

image-20230425101243048

 

 

6.2 Using vscode to access docker

Here is an example of how to configure vscode to access docker containers in windows, and the steps to access docker in ubuntu are basically the same.

 

6.2.1. Remote Configuration

See section [VI. Linux operating systems ---- 3. Remote control].

Make sure windows can log in remotely to docker's host [cart]:

xxxxxxxxxx
在windows中打开cmd输入ssh命令测试：ssh jetson@192.168.2.102   （用户名和ip修改为自己的）
​
或者使用远程工具：putty、xshell、securecrt、winscp、mobaxterm、finalshell等都可以
Open cmd in windows and enter ssh command to test: ssh jetson@192.168.2.102 (username and ip changed to your own)
​
Or use remote tools: putty, xshell, securecrt, winscp, mobaxterm, finalshell, etc. can be used

 

6.2.2. vscode configuration

 

6.2.2.1. Download and install vscode

vscode official website: https://code.visualstudio.com/, download the windows version of the installation can be

 

6.2.2.2. vscode configuration ssh remote login to the host computer

1, open vscode, click on the left below the arrow icon, and then in the search box, type remote, select Remote Development plug-in, click Install to install the plug-in.

image-20230424183009372

vscode default installation after the English version, you can install Chinese plug-ins to Chinese:

image-20230424182205246

 

  1. In vscode, press the shortcut key [ctrl + shift + p] to open the command input window, type: remote, and then follow the guidelines in the figure below to log in to the remote host [cart].

image-20230425091020733

image-20230425091230849

image-20230425091248247

image-20230425091304318

image-20230425091323608

image-20230425091358042

image-20230425091415820

How to see the screen above, indicating that you have successfully logged in remotely to the host computer.

 

6.2.2.3. Entering the robot container

See the tutorial in section [5. Entering the robot's docker container] to enter.

 

6.2.2.4, vscode remote host configuration docker environment

1.Install the docker plugin on the remote host [cart].

image-20230425091515978

 

  1. After the installation is complete, a docker icon will appear in the left navigation bar

image-20230425091532747

 

  1. Click the docker icon

image-20230425093400792

 

  1. Right-click on the running container and follow the figure below:

image-20230425093448428

image-20230425093609630

 

  1. A new window will open, see the following indicates that you have entered the container

image-20230425093643476

 

  1. Open the folder
xxxxxxxxxx
/root/yahboomcar_ros2_ws  # 这是机器人的项目路径
 # This is the robot's project path

image-20230425093748086

image-20230425093730162

image-20230425093808074

image-20230425093900096

 

  1. Similarly, in the container can also install the plug-ins we need to facilitate the development of our

image-20230425102200355

In addition to ros, the recommended plugins to install here are:

img

After completing the above steps, you can manipulate the code files in the container to develop and learn.

 

6.2.2.5 Configuring Confidential Login

In the above steps, some steps may need to enter the host's password, here again to optimize the configuration of the password-free login.

  1. first test in windows using ssh login to the host [cart], the command is as follows:
 Enter the docker container of the robot
Customer's method of updating docker images in the future

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