https://github.com/cyberbotics/epuck_ros2

ROS2 node for the e-puck robot and its simulation model
https://github.com/cyberbotics/epuck_ros2

e-puck robot robotics ros ros2 simulation webots

Last synced: 7 days ago
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ROS2 node for the e-puck robot and its simulation model

• Host: GitHub
• URL: https://github.com/cyberbotics/epuck_ros2
• Owner: cyberbotics
• License: apache-2.0
• Created: 2020-02-18T07:17:35.000Z (over 4 years ago)
• Default Branch: master
• Last Pushed: 2023-11-23T09:38:14.000Z (12 months ago)
• Last Synced: 2024-05-01T11:23:52.909Z (7 months ago)
• Topics: e-puck, robot, robotics, ros, ros2, simulation, webots
• Language: C++
• Homepage: https://cyberbotics.com/doc/guide/epuck
• Size: 457 KB
• Stars: 54
• Watchers: 42
• Forks: 19
• Open Issues: 6
• Metadata Files:
  • Readme: README.md
  • Contributing: CONTRIBUTING.md
  • Funding: .github/FUNDING.yml
  • License: LICENSE
  • Code of conduct: CODE_OF_CONDUCT.md

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README

        
# E-Puck Driver for ROS2

[![Build Status](https://travis-ci.com/cyberbotics/epuck_ros2.svg?branch=master)](https://travis-ci.com/cyberbotics/epuck_ros2)

[![license - apache 2.0](https://img.shields.io/:license-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)

[![Version](https://img.shields.io/github/v/tag/cyberbotics/epuck_ros2?label=version)](http://wiki.ros.org/epuck_ros2)



This 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).

Please use the following links for the instructions:

- [Installation](./installation/README.md)

- [Getting Started](#getting-started)

- [Examples](https://github.com/cyberbotics/webots_ros2/wiki/Tutorial-E-puck-for-ROS2-Beginners)

- [Simulation](https://github.com/cyberbotics/webots_ros2/tree/master/webots_ros2_epuck)

## Getting Started

Make sure you followed the [installation tutorial](./installation/README.md), so you have ROS2 and `epuck_ros2` installed on your robot.

If everything properly installed you should be able to source your ROS2 workspace:

```

source $HOME/ros2_ws/install/local_setup.bash

```

Then, launch the driver:

```

ros2 launch webots_ros2_epuck2 robot_launch.py

```

This command will activate a ROS2 node with support for all sensors and actuators available on the e-puck except the camera.

We consider the camera node be heavy for device such as Raspberry Pi Zero W and therefore it is not included by default.

You can activate the camera node as:

```

ros2 launch webots_ros2_epuck2 robot_launch.py camera:=true

```

Your 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).

## Development

If you prefer to compile `epuck_ros2` from the source you can clone the repository to your workspace:

```

git clone --recurse-submodules https://github.com/cyberbotics/epuck_ros2.git src/epuck_ros2

```

Install dependencies with [`rosdep`](http://wiki.ros.org/rosdep):

```

rosdep install --from-paths src --ignore-src -r -y

```

Then simply build it with [`colcon`](https://colcon.readthedocs.io/en/released/user/installation.html):

```

colcon build

```

Or, if you wish to build it on your PC (that doesn't have MMAL library):

```

colcon build --cmake-args -DAVOID_EPUCK_CAMERA_BUILD=true

```

## Acknowledgement



  



Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.  

More information: rosin-project.eu

  

This project has received funding from the European Union’s Horizon 2020  

research and innovation programme under grant agreement no. 732287.