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https://github.com/memristor/mep3
Memristor Eurobot Platform based on ROS 2
https://github.com/memristor/mep3
behaviortree c cpp eurobot python ros ros-navigation rviz webots
Last synced: 25 days ago
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Memristor Eurobot Platform based on ROS 2
- Host: GitHub
- URL: https://github.com/memristor/mep3
- Owner: memristor
- License: apache-2.0
- Created: 2021-10-25T08:04:12.000Z (about 3 years ago)
- Default Branch: main
- Last Pushed: 2024-11-10T23:38:11.000Z (about 1 month ago)
- Last Synced: 2024-11-11T00:21:16.778Z (about 1 month ago)
- Topics: behaviortree, c, cpp, eurobot, python, ros, ros-navigation, rviz, webots
- Language: C
- Homepage: https://memristorrobotics.com
- Size: 16 MB
- Stars: 32
- Watchers: 5
- Forks: 8
- Open Issues: 20
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
- awesome-webots - Eurobot Platform
README
# mep3
Memristor Eurobot Platform based on ROS 2
## Installation
Make sure you have [ROS 2 Humble](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html) installed and follow the steps below:
```sh
# Source ROS 2
source /opt/ros/humble/local_setup.bash
# Create a workspace
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws
git clone [email protected]:memristor/mep3.git src/mep3
# On embedded device: touch src/mep3/mep3_simulation/COLCON_IGNORE
# Install dependencies
sudo apt install python3-vcstool
vcs import src < src/mep3/mep3.repos
rosdep update
rosdep install --from-paths src --ignore-src -r
# Build the packages
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo
# Source this workspace
source install/local_setup.bash
```
Please check alternative installation methods [here](./docker).
## Bringup
Start the ROS app on a physical robot or a simulation with multiple robots.
### Physical
Start the ROS app on SBC (we support Raspberry Pi):
```sh
ros2 launch mep3_bringup robot_launch.py bt:=false color:=blue
```
Important parameters are:
- `namespace`: Whether to load a configuration for a big or small robot (can be `big` or `small`).
- `color`: Team color (can be `blue` or `green`).
- `bt`: Whether to run a behavior tree (can be `true` or `false`).
- `strategy`: Name of the behavior tree you want run.
### Simulation
Start the simulation on a PC:
```sh
ros2 launch mep3_bringup simulation_launch.py
```
Important parameters are:
- `color`: Team color (can be `blue` or `green`).
- `bt`: Whether to run a behavior tree (can be `true` or `false`).
- `big_strategy`: Name of the behavior tree you want run for the big robot.
- `small_strategy`: Name of the behavior tree you want run for the small robot.
### Demo
#### Teleoperation
```sh
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r cmd_vel:=big/cmd_vel
```
(use `i`, `j`, `l`, and `,` keys move to the robot)
#### Visualization & navigation
```sh
ros2 launch mep3_bringup rviz_launch.py namespace:=big
```
(use `2D Goal Pose` to navigate the robot)
## Tips
### Live strategies
To iterate quickly on behaviors you can load any strategy that contains `live` in the name.
As soon as any of the files in the [`mep3_behavior/strategies`](mep3_behavior/strategies) directory is changed the behavior node will reload.
### Webots world simulation
- Open [`mep3_simulation/webots_data/worlds/eurobot.wbt`](./mep3_simulation/webots_data/worlds/eurobot.wbt) in Webots
```sh
webots ~/ros2_ws/src/mep3/mep3_simulation/webots_data/worlds/eurobot.wbt
```
- Stop simulation and set time to `00:00:00`
- Save changes
- Commit all changes except for [`Viewpoint`](./mep3_simulation/webots_data/worlds/eurobot.wbt#L5-L7)
### Testing
- Change working directory to `~/ros2_ws`
- Run the following command:
```sh
source /opt/ros/humble/local_setup.bash
colcon test --event-handlers console_cohesion+ --return-code-on-test-failure
```