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Memristor Eurobot Platform based on ROS 2

Make sure you haveROS 2 Humble installed and follow the steps below:

# Source ROS 2source /opt/ros/humble/local_setup.bash# Create a workspacemkdir -p~/ros2_ws/srccd~/ros2_wsgit clone git@github.com:memristor/mep3.git src/mep3# On embedded device: touch src/mep3/mep3_simulation/COLCON_IGNORE# Install dependenciessudo apt install python3-vcstool# vcs import src < src/mep3/mep3.reposrosdep updaterosdep install --from-paths src --ignore-src -r# Build the packagescolcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo# Source this workspacesource install/local_setup.bash

⚠️Recommended:Please check alternative installation methodshere.

Start the ROS app on a physical robot or a simulation with multiple robots.

Start the ROS app on SBC (we support Raspberry Pi):

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 bebig orsmall).
• color: Team color (can beblue orgreen).
• bt: Whether to run a behavior tree (can betrue orfalse).
• strategy: Name of the behavior tree you want run.

Start the simulation on a PC:

ros2 launch mep3_bringup simulation_launch.py

Important parameters are:

• color: Team color (can beblue orgreen).
• bt: Whether to run a behavior tree (can betrue orfalse).
• 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.

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r cmd_vel:=big/cmd_vel

(usei,j,l, and, keys move to the robot)

ros2 launch mep3_bringup rviz_launch.py namespace:=big

(use2D Goal Pose to navigate the robot)

To iterate quickly on behaviors you can load any strategy that containslive in the name.As soon as any of the files in themep3_behavior/strategies directory is changed the behavior node will reload.

• Openmep3_simulation/webots_data/worlds/eurobot.wbt in Webots

  webots~/ros2_ws/src/mep3/mep3_simulation/webots_data/worlds/eurobot.wbt

• Stop simulation and set time to00:00:00
• Save changes
• Commit all changes except forViewpoint

• Change working directory to~/ros2_ws
• Run the following command:

  source /opt/ros/humble/local_setup.bashcolcontest --event-handlers console_cohesion+ --return-code-on-test-failure