{"id":18375086,"url":"https://github.com/cyberbotics/epuck_ros2","last_synced_at":"2025-07-16T05:06:27.068Z","repository":{"id":53067535,"uuid":"241296751","full_name":"cyberbotics/epuck_ros2","owner":"cyberbotics","description":"ROS2 node for the e-puck robot and its simulation model","archived":false,"fork":false,"pushed_at":"2023-11-23T09:38:14.000Z","size":468,"stargazers_count":61,"open_issues_count":6,"forks_count":19,"subscribers_count":42,"default_branch":"master","last_synced_at":"2025-04-06T20:36:05.553Z","etag":null,"topics":["e-puck","robot","robotics","ros","ros2","simulation","webots"],"latest_commit_sha":null,"homepage":"https://cyberbotics.com/doc/guide/epuck","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/cyberbotics.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":"CONTRIBUTING.md","funding":".github/FUNDING.yml","license":"LICENSE","code_of_conduct":"CODE_OF_CONDUCT.md","threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null},"funding":{"github":["omichel","DavidMansolino","stefaniapedrazzi"],"patreon":null,"open_collective":null,"ko_fi":null,"tidelift":null,"community_bridge":null,"custom":"https://cyberbotics.com/buy"}},"created_at":"2020-02-18T07:17:35.000Z","updated_at":"2025-03-20T18:10:12.000Z","dependencies_parsed_at":"2022-08-26T05:41:44.242Z","dependency_job_id":"1a137b45-ffdd-4f82-bb0b-e76ab64971c9","html_url":"https://github.com/cyberbotics/epuck_ros2","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/cyberbotics/epuck_ros2","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/cyberbotics%2Fepuck_ros2","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/cyberbotics%2Fepuck_ros2/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/cyberbotics%2Fepuck_ros2/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/cyberbotics%2Fepuck_ros2/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/cyberbotics","download_url":"https://codeload.github.com/cyberbotics/epuck_ros2/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/cyberbotics%2Fepuck_ros2/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":265483259,"owners_count":23774174,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["e-puck","robot","robotics","ros","ros2","simulation","webots"],"created_at":"2024-11-06T00:17:28.804Z","updated_at":"2025-07-16T05:06:27.042Z","avatar_url":"https://github.com/cyberbotics.png","language":"C++","funding_links":["https://github.com/sponsors/omichel","https://github.com/sponsors/DavidMansolino","https://github.com/sponsors/stefaniapedrazzi","https://cyberbotics.com/buy"],"categories":[],"sub_categories":[],"readme":"# E-Puck Driver for ROS2\n[![Build Status](https://travis-ci.com/cyberbotics/epuck_ros2.svg?branch=master)](https://travis-ci.com/cyberbotics/epuck_ros2)\n[![license - apache 2.0](https://img.shields.io/:license-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)\n[![Version](https://img.shields.io/github/v/tag/cyberbotics/epuck_ros2?label=version)](http://wiki.ros.org/epuck_ros2)\n\n\u003cimg src=\"./assets/pi-puck.jpg\" width=\"400px\" /\u003e\n\nThis package adds ROS2 support for the [e-puck](https://www.gctronic.com/doc/index.php/e-puck2) physical robot with [Pi-puck extension](https://www.gctronic.com/doc/index.php?title=Pi-puck).\nPlease use the following links for the instructions:\n- [Installation](./installation/README.md)\n- [Getting Started](#getting-started)\n- [Examples](https://github.com/cyberbotics/webots_ros2/wiki/Tutorial-E-puck-for-ROS2-Beginners)\n- [Simulation](https://github.com/cyberbotics/webots_ros2/tree/master/webots_ros2_epuck)\n\n## Getting Started\nMake sure you followed the [installation tutorial](./installation/README.md), so you have ROS2 and `epuck_ros2` installed on your robot.\nIf everything properly installed you should be able to source your ROS2 workspace:\n```\nsource $HOME/ros2_ws/install/local_setup.bash\n```\n\nThen, launch the driver:\n```\nros2 launch webots_ros2_epuck2 robot_launch.py\n```\nThis command will activate a ROS2 node with support for all sensors and actuators available on the e-puck except the camera.\nWe consider the camera node be heavy for device such as Raspberry Pi Zero W and therefore it is not included by default.\nYou can activate the camera node as:\n```\nros2 launch webots_ros2_epuck2 robot_launch.py camera:=true\n```\n\nYour robot should be ready now and you can check examples [here](https://github.com/cyberbotics/webots_ros2/blob/master/webots_ros2_epuck/EPUCK_ROS2.md).\n\n## Development\nIf you prefer to compile `epuck_ros2` from the source you can clone the repository to your workspace:\n```\ngit clone --recurse-submodules https://github.com/cyberbotics/epuck_ros2.git src/epuck_ros2\n```\n\nInstall dependencies with [`rosdep`](http://wiki.ros.org/rosdep):\n```\nrosdep install --from-paths src --ignore-src -r -y\n```\n\nThen simply build it with [`colcon`](https://colcon.readthedocs.io/en/released/user/installation.html):\n```\ncolcon build\n```\nOr, if you wish to build it on your PC (that doesn't have MMAL library):\n```\ncolcon build --cmake-args -DAVOID_EPUCK_CAMERA_BUILD=true\n```\n\n## Acknowledgement\n\n\u003ca href=\"http://rosin-project.eu\"\u003e\n  \u003cimg src=\"http://rosin-project.eu/wp-content/uploads/rosin_ack_logo_wide.png\" \n       alt=\"rosin_logo\" height=\"60\" \u003e\n\u003c/a\u003e\u003c/br\u003e\n\nSupported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.  \nMore information: \u003ca href=\"http://rosin-project.eu\"\u003erosin-project.eu\u003c/a\u003e\n\n\u003cimg src=\"http://rosin-project.eu/wp-content/uploads/rosin_eu_flag.jpg\" \n     alt=\"eu_flag\" height=\"45\" align=\"left\" \u003e  \n\nThis project has received funding from the European Union’s Horizon 2020  \nresearch and innovation programme under grant agreement no. 732287. \n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fcyberbotics%2Fepuck_ros2","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fcyberbotics%2Fepuck_ros2","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fcyberbotics%2Fepuck_ros2/lists"}