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Lab - Robot Operating System 2 (ROS-humble)

Welcome to the ROS 2 Humble Remote Lab! This interactive learning environment is designed to introduce beginners to the fundamentals of ROS 2 (Robot Operating System 2) Humble, the latest long-term support release of the popular robotics middleware. This lab provides a rudimentary edrys-lab that be used as a basis for further extensions and adaptions.

Lab Overview

This lab consists of two modules:

  1. module-markdown-it: This module is used to render the markdown content of the lab.
  2. module-pyxtermjs: This module is used to provide a terminal interface to the lab.

The current lab-configuration can be imported from here:

https://raw.githubusercontent.com/edrys-labs/lab-robot-operating-system/main/laboratory/ros-humble.yml

If you already have created a new classroom at:

https://edrys-labs.github.io

then simply copy the lab-config URL and import the lab configuration:

... Otherwise try out the fast deploy by clicking onto the Deploy-Button. This will load the configuration automatically within your browser. The created classroom will be unique and can be shared with your students.

Stations

The module-pyxtermjs does require a terminal-server with access to a ROS 2 environment. This project contains a working docker and docker-compose configuration to start a ROS 2 environment with a terminal-server. However, you can also use the following docker command to start the terminal server immediately:

docker run -it --rm \
  --name edrys-ros-humble-lab \
  --network host \
  -e LANG=en_US.UTF-8 \
  -e LC_ALL=en_US.UTF-8 \
  -e ROS_HOSTNAME=edrys-ros-humble-lab \
  crosslab/edrys_pyxtermjs_ros:latest

If you want to connect your local ROS environment with the one in the terminal-server, you can use the following command, then add a ROS_MASTER_URI, which can be found by using the command hostname if you are also running the station and the ros-master on the same machine. Otherwise, you need to replace the hostname with the appropriate IP address manually.

docker run -it --rm \
  --name edrys-ros-humble-lab \
  --network host \
  -e LANG=en_US.UTF-8 \
  -e LC_ALL=en_US.UTF-8 \
  -e ROS_MASTER_URI=http://${hostname}:11311 \
  -e ROS_HOSTNAME=edrys-ros-humble-lab \
  crosslab/edrys_pyxtermjs_ros:latest

more information can be found in the teacher-settings in the lab itself.