robolubo

ROS2 Humble robot project for the robolubo platform. Developed on a PC, deployed to a Jetson Nano (jetson-lubo).

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Prerequisites

PC:

• ROS2 installed
• rsync, ssh
• zenoh-bridge-ros2dds — install via Eclipse Zenoh apt repo:

  curl -L https://download.eclipse.org/zenoh/debian-repo/zenoh-public-key | sudo gpg --dearmor --yes --output /etc/apt/keyrings/zenoh-public-key.gpg
  echo 'deb [signed-by=/etc/apt/keyrings/zenoh-public-key.gpg] https://download.eclipse.org/zenoh/debian-repo/ /' | sudo tee /etc/apt/sources.list.d/zenoh.list
  sudo apt update && sudo apt install zenoh-bridge-ros2dds

Jetson Nano:

• ROS2 Humble installed from debians
• SSH access from PC (ssh alexis@<jetson-ip>)
• curl, unzip (for one-time setup)

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One-time Setup

# 1. Clone and configure
git clone <repo-url> robolubo
cd robolubo
cp .env.example .env
# Edit .env: set JETSON_HOST to your Jetson's current IP

# 2. Make scripts executable
chmod +x scripts/*.sh

# 3. Set up the Jetson (sets hostname, installs zenoh bridge)
scripts/setup_jetson.sh

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Daily Workflow

Terminal 1 — deploy & build:

scripts/deploy_and_build.sh

Terminal 2 — SSH into Jetson to run nodes:

scripts/ssh.sh
source ~/robolubo_ws/install/setup.bash
ros2 launch robolubo <your_launch_file>.launch.py

Terminal 3 — Zenoh bridge on PC (connects PC ROS2 to Jetson):

scripts/zenoh_local.sh

Terminal 4 — RViz on PC:

source /opt/ros/humble/setup.bash
rviz2

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Project Structure

src/robolubo/       ROS2 package (mixed C++ / Python)
external/           Gitignored clones of maintained external dependencies
ros2_ws/            Gitignored local workspace build/install/log cache
scripts/            Dev workflow scripts
docker/             Local development container definitions
zenoh/              Zenoh bridge configuration

See CLAUDE.md for full developer reference. For local ROS 2 Humble-on-desktop validation, see docs/humble_docker.md. For a host-native Kilted camera/ORB-SLAM workflow, see docs/kilted_host_camera_lab.md.