> For the complete documentation index, see [llms.txt](https://docs.veerobot.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.veerobot.com/ros-robots/beetle-bot-plus/for-developers/ros2.md). # ROS 2 SSH, topics, teleop, mapping, bags, ROS 2 Jazzy on BeetleBot The stack is already running. SSH in and use ordinary ROS 2 commands. You can also run ROS 2 Jazzy on an Ubuntu laptop on the same Wi-Fi and open **RViz**, [Laptop ROS and RViz](/ros-robots/beetle-bot-plus/for-developers/laptop-ros.md). Map without a tablet: [Map from the terminal](/ros-robots/beetle-bot-plus/for-developers/map-from-terminal.md). ## Environment ```bash ssh veerobot@ source /opt/ros/jazzy/setup.bash source ~/VEEROS/ros2_ws/install/setup.bash ``` ```bash ros2 topic list ros2 node list ros2 service list ros2 topic echo /scan ros2 topic hz /scan ros2 topic info /cmd_vel -v ``` Default `ROS_DOMAIN_ID` is **0**. Check with `echo $ROS_DOMAIN_ID` on the robot. ## Safety services Call these before you expect motion. ARM is required even if you publish `/cmd_vel`. ```bash ros2 service call /veeros/arm std_srvs/srv/Trigger {} ros2 service call /veeros/disarm std_srvs/srv/Trigger {} ros2 service call /veeros/estop std_srvs/srv/Trigger {} ros2 service call /veeros/clear_estop std_srvs/srv/Trigger {} ``` A `/goal_pose` published while disarmed is **not** replayed after ARM. Publish again. ## Velocity, TwistStamped `/cmd_vel`, `/cmd_vel_joy`, and `/cmd_vel_nav` use **`geometry_msgs/TwistStamped`**, not `Twist`. Keyboard teleop (publishes `/cmd_vel`): ```bash ros2 run veeros_teleop keyboard_teleop ``` | Key | Action | | --------------------- | ---------------------------- | | `w` / `s` / `a` / `d` | Forward / back / turn | | Space | Zero velocity | | `z` / `c` | Arm / disarm | | `x` / `v` | E-stop / clear E-stop | | `q` / `e` | Scale linear speed up / down | Publish a short forward command yourself: ```bash ros2 topic pub --once /cmd_vel geometry_msgs/msg/TwistStamped \ "{header: {frame_id: 'base_link'}, twist: {linear: {x: 0.15}, angular: {z: 0.0}}}" ``` ## Topics and services | Name | Type | Use | | ----------------------------------------------- | ----------------------------------------- | ----------------------------------------- | | `/cmd_vel` | `geometry_msgs/TwistStamped` | Your teleop / node | | `/cmd_vel_joy` | `geometry_msgs/TwistStamped` | Gamepad (wins while the pad switch is on) | | `/cmd_vel_nav` | `geometry_msgs/TwistStamped` | Navigation output | | `/scan` | `sensor_msgs/LaserScan` | Perception and Nav2 | | `/scan_filtered` | `sensor_msgs/LaserScan` | Display (Foxglove) | | `/odom` | `nav_msgs/Odometry` | Wheel odometry | | `/odometry/filtered` | `nav_msgs/Odometry` | Fused odometry | | `/map` | `nav_msgs/OccupancyGrid` | Active map | | `/goal_pose` | `geometry_msgs/PoseStamped` | One Nav2 goal | | `/initialpose` | `geometry_msgs/PoseWithCovarianceStamped` | Localization seed | | `/battery_state` | `sensor_msgs/BatteryState` | Pack voltage | | `/tf` `/tf_static` | `tf2_msgs/TFMessage` | Frames | | `/veeros/arm` `/disarm` `/estop` `/clear_estop` | `std_srvs/srv/Trigger` | Safety | ### Who wins E-stop beats the gamepad. The gamepad beats dashboard teleop and `/cmd_vel`. Navigation is last among those. ARM is still required. A gamepad with the **physical switch on** overrides `/cmd_vel`. Turn the switch off (or put the pad down) while you test your node. ## LiDAR and camera ```bash ros2 topic hz /scan # typically ~7–10 Hz ros2 topic echo /scan --once ``` RGB live view for operators is the dashboard stream on port 8080, not a required ROS subscription. When the Foxglove bridge is on, a republisher also offers: * `/camera/image_raw/compressed` * `/camera/camera_info` Depth camera (if purchased and enabled): `/oak/rgb/image_raw`, `/oak/depth/image_raw`. ## Navigation from ROS Map from the dashboard ([Maps and missions](/ros-robots/beetle-bot-plus/maps-and-missions.md)) or from SSH with `veeros_map` ([Map from the terminal](/ros-robots/beetle-bot-plus/for-developers/map-from-terminal.md)). After a map of this space is active: ```bash # Seed pose (same job as Set pose) ros2 topic pub --once /initialpose geometry_msgs/msg/PoseWithCovarianceStamped \ "{header: {frame_id: 'map'}, pose: {pose: {position: {x: 0.0, y: 0.0, z: 0.0}, orientation: {w: 1.0}}}}" # One goal, ARM first ros2 topic pub --once /goal_pose geometry_msgs/msg/PoseStamped \ "{header: {frame_id: 'map'}, pose: {position: {x: 1.0, y: 0.0, z: 0.0}, orientation: {w: 1.0}}}" ``` Foxglove **2D pose** and RViz **2D Nav Goal** publish `/goal_pose`. Multi-point routes are dashboard missions. ## Bags On the robot: ```bash ros2 bag record /scan /odom /odometry/filtered /tf /tf_static -o ~/bags/drive1 ``` Play later with `ros2 bag play ~/bags/drive1`, or open the bag in Foxglove Studio → **Open local file**. ## Laptop on the same Wi-Fi Full install (Jazzy, meshes, `beetlebot.rviz`): [Laptop ROS and RViz](/ros-robots/beetle-bot-plus/for-developers/laptop-ros.md). ```bash export ROS_DOMAIN_ID=0 source /opt/ros/jazzy/setup.bash source ~/ros_ws/install/setup.bash # after you built the overlay ros2 topic list ``` If the access point blocks multicast, `ros2 topic list` on the laptop stays empty. Run nodes **on the robot** (SSH) or use [Foxglove](/ros-robots/beetle-bot-plus/foxglove.md) / [HTTP](/ros-robots/beetle-bot-plus/for-developers/http-and-webhooks.md). ## Your own package Create the overlay on a laptop as in [Laptop ROS and RViz](/ros-robots/beetle-bot-plus/for-developers/laptop-ros.md) (section 5). On the robot, use a **separate** overlay, do not rebuild `~/VEEROS/ros2_ws`. Publish `/cmd_vel` as **TwistStamped**. Call `/veeros/arm` before motion. Copy-paste node: [Write a node](/veestack/research/writing-a-node.md).