Hantewin BenBen — Robonix Robot Deployment

Robonix deployment repository for the Hantewin BenBen mobile robot.

This repository provides a Robonix deployment configuration for the BenBen robot, integrating differential-drive chassis control (TBox SDK), Livox MID-360 3D LiDAR, RichBeam LakiBeam1 2D LiDAR, Intel RealSense D435i RGB-D camera, RTAB-Map SLAM mapping/localization, point-to-point navigation, speech interaction, scene understanding, and an AgileX Nero 7-DOF manipulator arm.

Overview

The deployment integrates the BenBen robot with the Robonix runtime and exposes robot hardware and application capabilities through Robonix primitives, services, and skills.

Main capabilities include:

• BenBen chassis motion and posture control via the TBox C++ SDK and remote ros1 node
• Livox MID-360 3D LiDAR (PointCloud2) and its built-in 6-axis IMU
• RichBeam LakiBeam1 2D planar LiDAR (LaserScan)
• Intel RealSense D435i RGB-D camera (RGB + aligned depth)
• RTAB-Map SLAM for 2D occupancy-grid / 3D point-cloud mapping and localization
• Point-to-point navigation on the vendor TBox onboard map
• Speech recognition and wake-word interaction (Tencent ASR/TTS)
• Vision-language-model (VLM) based scene understanding
• AgileX Nero 7-DOF arm with joint/Cartesian control, gripper, and VLM-guided grasp
• Robonix chassis control and navigation skills

Configure

Before booting, complete the following setup:

1. TBox SDK token — the benben_chassis primitive authenticates to the vendor TBox controller with a development token issued by the manufacturer. Provide it via the manifest config.token field or the BENBEN_TBOX_TOKEN environment variable (recommended in ~/.robonix/secrets.env); the driver will not initialize without it.

2. Network connectivity — the chassis sits at 192.168.10.1 . Ensure the main control computer, the chassis, and the LiDAR are mutually reachable. The MID-360 LiDAR lives on a separate subnet, configured via lidar_ip / host_ip in robonix_manifest.yaml.

3. Chassis-side ROS 1 bridge — compile and run primitives/chassis/chassis_driver/tbox_sdk/vel_cmd_udp_server.cpp on the chassis controller. This ROS 1 node listens for velocity commands on UDP port 11451 and forwards them to the chassis /cmd_vel/input/manual topic, switching /Mode between manual and autonomous control.

Architecture

                         Robonix
                            │
        ┌───────────────────┼───────────────────┐
        │                   │                   │
    Primitives           Services             Skills
        │                   │                   │
        ├─ benben_chassis    ├─ speech           ├─ p2pmov
        ├─ mid360_lidar      │  (Tencent ASR/TTS) ├─ nero_grasp
        ├─ mid360_imu        ├─ mapping          ├─ nero_return_home
        ├─ lakibeam1_lidar   │  (RTAB-Map SLAM)  └─ nero_wave
        ├─ realsense_camera  └─ scene
        ├─ robot_description     (VLM)
        ├─ left_arm
        ├─ audio_driver
        └─ audio_client_bridge
        │
        ▼
 ┌──────────────────────────────────────────────────┐
 │                Hantewin BenBen                   │
 │                                                  │
 │  Chassis / TBox   MID-360    LakiBeam1   D435i   │
 │       │              │          │         │      │
 │    /cmd_vel      PointCloud   LaserScan  RGB-D  │
 │    /odom            /livox/imu                   │
 └──────────────────────────────────────────────────┘

Repository Structure

.
├── robonix_manifest.yaml          # main deployment manifest
├── soma.yaml                      # robot model, footprint, capability exports
├── robot.urdf                     # base / lidar / IMU link tree
│
├── config/
│   ├── nav2_params.yaml           # Nav2 parameters
│   ├── navigate.xml               # Nav2 behavior tree
│   ├── old_nav2_params.yaml       # legacy Nav2 parameters
│   └── rtabmap_params.yaml        # RTAB-Map parameters
│
├── primitives/
│   ├── chassis/                   # benben_chassis (TBox SDK)
│   ├── lakiBeam1-lidar/           # LakiBeam1 2D LiDAR bridge
│   ├── nero_arm/                  # AgileX Nero arm driver (local copy)
│   ├── primitive-livox-mid360-imu-rbnx/      # MID-360 IMU shim
│   └── primitive-livox-mid360-lidar-rbnx/    # MID-360 LiDAR driver
│
├── services/
│   └── service-map-rbnx/          # RTAB-Map SLAM mapping service
│
├── skills/
│   └── p2pmov/                    # point-to-point navigation skill
│
├── scripts/
│   └── monitor_odom_drift.py
│
├── assets/
│   └── robot.jpg
└── rbnx-boot/                     # runtime instances, cache, and logs

Robonix Components

Primitives

Services

Skills

The mapping, scene, and nav2 service blocks are present in the deployment (environment variables, soma.yaml capability exports, and config/ files) but are currently commented out in robonix_manifest.yaml. Startup is driven by that manifest, so only the active blocks above are launched by rbnx boot.

Chassis Integration

The BenBen chassis is connected to Robonix through the benben_chassis primitive, which wraps the TBox C++ SDK (libtbox_sdk_cpp.so).

The control path is:

User / Robonix
      │
      ▼
p2pmov / move / twist_in
      │
      ▼
benben_chassis
      │
      ▼
TBox SDK / /cmd_vel
      │
      ▼
BenBen Robot Controller

The driver exposes three capability contracts:

• robonix/primitive/chassis/move — discrete motion (forward_m, rotate_deg, or raw linear_x / angular_z velocity bursts)
• robonix/primitive/chassis/twist_in — continuous geometry_msgs/Twist stream on /cmd_vel (used by the navigation stack)
• robonix/primitive/chassis/odom — nav_msgs/Odometry republished from the controller's ROS 1 /odom stream at 50 Hz

The driver runs natively on the host (no Docker) and initializes the TBox SDK during the Driver(CMD_INIT) lifecycle call.

Navigation

The deployment uses two distinct navigation stacks, which operate in different coordinate frames and must not be mixed:

1. Vendor TBox onboard map — the p2pmov skill dispatches goals through the TBox SDK task_distribution(x, y, yaw, map_name, …). The chassis navigates autonomously on its onboard vendor map; obstacle avoidance is handled by vendor firmware, not Robonix Nav2.

2. Robonix RTAB-Map SLAM — the mapping service builds and localizes against a 2D occupancy grid / 3D point cloud map. Navigation on this frame is provided by the (currently commented-out) nav2 service.

config/
├── nav2_params.yaml
├── navigate.xml
└── rtabmap_params.yaml

Do not route a p2pmov point name through scene goal_near / goal_room: those resolve poses on the RTAB-Map frame, which does not match the vendor map. See skills/p2pmov/CAPABILITY.md for the intent-routing rules.

Configuration

The main deployment configuration is robonix_manifest.yaml. The deployment root should be provided through:

export ROBONIX_DEPLOY_DIR=/path/to/robot-hantewin-benben

VLM credentials must be provided through environment variables and must not be committed to the repository:

export VLM_BASE_URL="your-vlm-base-url"
export VLM_API_KEY="your-api-key"
export VLM_MODEL="your-model"
export TENCENT_ASR_APPID="your-tencent-appid"

The manifest references a secrets file for sourcing credentials:

set -a; source ~/.robonix/secrets.env; set +a

Additional platform settings (ROS 2 distro, build target, scene/mapping platform) are configured through the manifest's env: block. This deployment targets the Jetson AGX Thor (jetson_thor) with ROS 2 Jazzy and native (non-Docker) builds (RBNX_BUILD_TARGET: jetson-native).

Hardware

The current deployment is designed for:

• Hantewin BenBen mobile robot (differential-drive base, TBox controller)
• Livox MID-360 3D LiDAR (with built-in IMU)
• RichBeam LakiBeam1 2D LiDAR
• Intel RealSense D435i RGB-D camera
• AgileX Nero 7-DOF arm (with agx_gripper effector, CAN can_piper)
• USB microphone / USB speaker
• Jetson AGX Thor onboard computing platform

Hardware device names, network interfaces, ROS topics, LiDAR IPs, and audio devices may need to be adjusted for the target robot. In particular, the MID-360 LiDAR IP, host IP, and the robot controller's ROS 1 URI are config-driven and robot-specific.

Security

API keys and other credentials must not be committed to this repository.

Use environment variables or local ignored configuration files (e.g. ~/.robonix/secrets.env) for sensitive information.

The mapping Web UI is unauthenticated and binds 0.0.0.0 in this deployment (MAPPING_WEBUI_HOST) — only expose it on a trusted LAN.

Build outputs, logs, caches, and local environment files are excluded through .gitignore.

License

MulanPSL-2.0 (see each package's package_manifest.yaml). Vendored third-party sources retain their own licenses (e.g. livox_ros_driver2 is BSD).

Maintainer

Futaba19-c futaba19c@foxmail.com

Repository: https://github.com/syswonder/robot-hantewin-benben