{"id":22202380,"url":"https://github.com/forthtemple/ros_pimoroni_sts_pi","last_synced_at":"2026-01-05T17:06:02.129Z","repository":{"id":181995714,"uuid":"90366885","full_name":"forthtemple/ros_pimoroni_sts_pi","owner":"forthtemple","description":"ROS Gazebo for Pimoroni STS PI","archived":false,"fork":false,"pushed_at":"2017-05-12T21:01:22.000Z","size":34,"stargazers_count":2,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"master","last_synced_at":"2025-10-11T14:33:58.338Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"","language":"CMake","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/forthtemple.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null}},"created_at":"2017-05-05T10:56:34.000Z","updated_at":"2022-02-07T21:53:37.000Z","dependencies_parsed_at":null,"dependency_job_id":"9ad22533-5fc7-4be5-afd2-9b531d0b74a8","html_url":"https://github.com/forthtemple/ros_pimoroni_sts_pi","commit_stats":null,"previous_names":["forthtemple/ros_pimoroni_sts_pi"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/forthtemple/ros_pimoroni_sts_pi","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/forthtemple%2Fros_pimoroni_sts_pi","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/forthtemple%2Fros_pimoroni_sts_pi/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/forthtemple%2Fros_pimoroni_sts_pi/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/forthtemple%2Fros_pimoroni_sts_pi/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/forthtemple","download_url":"https://codeload.github.com/forthtemple/ros_pimoroni_sts_pi/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/forthtemple%2Fros_pimoroni_sts_pi/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":28217720,"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","status":"online","status_checked_at":"2026-01-05T02:00:06.358Z","response_time":57,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"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":[],"created_at":"2024-12-02T16:15:04.112Z","updated_at":"2026-01-05T17:06:02.108Z","avatar_url":"https://github.com/forthtemple.png","language":"CMake","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Pimoroni STS PI ROS Gazebo Simulation\n\nProvides a Gazebo Simulation and ROS wrapper for Pimoroni STS PI.  Allows you to control your Pimoroni STS PI from your PC running ROS using standard Twist.  It also includes a Gazebo simulation of Pimoroni STS PI. You can record movements of a real Pimoroni and then replay in the simulation like in the video below:\n\n[![Youtube sumo](http://forthtemple.com/pimoroni/pimoroniyoutube.jpg)](https://www.youtube.com/watch?v=zDb48-HvZDI) \n\nThe Pimoroni STS PI is a cheap roving robot that uses a Raspberry PI as a controller.\n\nThe ultimate aim of the Gazebo simulation of the Pimoroni is to use reinforcement learning to teach the Pimoroni to do tasks like find objects. Once the task has been learnt within the ROS Gazebo framework the results will be used on a real Pimoroni.\n\n# Installation\nTo make it clear the setup is similar to the diagram below:\n\n[![Youtube Pimoroni](http://forthtemple.com/pimoroni/pimoronisetup250ii.jpg)]\n\nYou run ROS Gazebo on a PC which in turns communicates with your Raspberry PI that is on your Pimoroni STS PI.\n\nThe steps of installation are:\n\n1. On your Raspberry PI that is on your Pimoroni STS PI install and run app.py on:\n\nhttps://github.com/sandyjmacdonald/sts_pi_controller\n\n2. On your PC install ROS (eg http://wiki.ros.org/indigo/Installation/Ubuntu if from ubuntu)\n\n3. On your PC install in catkin this source\n```\ncd ~/catkin_ws/src\ngit clone https://github.com/forthtemple/ros_pimoroni_sts_pi.git\ncd ~/catkin_ws\ncatkin_make \n```\n# Running Gazebo simulation\nTo use the Pimoron Gazebo simulation in one terminal run the following:\n```\nroslaunch pimoroni_sts_pi_gazebo myworld.launch\n```\nOn another terminal to control your STS PI in Gazebo via a keyboard use:\n```\nrosrun pimoroni_sts_pi teleop_twist_keyboard.py\n```\n\n# Running Real Pimoroni STS PI\nTo control a real Pimoroni STS PI via ROS on your PC in one terminal run the following specifying the IP address of your Raspberry PI:\n```\nroslaunch pimoroni_sts_pi pimoroni_sts_pi.launch ip_address:=192.168.1.107\n```\nOn another terminal to control your STS PI via a keyboard use:\n```\nrosrun pimoroni_sts_pi teleop_twist_keyboard.py\n```\n\nTo record a real Pimoroni STS PI movements you can use ROSBAG:\n```\nrosbag record cmd_vel\n```\nTo play it to your Gazebo Pimoroni STS PI replace xx-xxx-xx with your recorded bag file name. Play this while running the Gazebo simulation\n```\nrosbag play xx-xxx-xx.bag\n```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fforthtemple%2Fros_pimoroni_sts_pi","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fforthtemple%2Fros_pimoroni_sts_pi","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fforthtemple%2Fros_pimoroni_sts_pi/lists"}