E-Puck Driver for ROS2

This package adds ROS2 support for the e-puck physical robot with Pi-puck extension. Please use the following links for the instructions:

• Installation
• Getting Started
• Examples
• Simulation

Getting Started

Make sure you followed the installation tutorial, 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.

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:

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

Then simply build it with colcon:

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

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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.

Any contribution that you make to this repository will be published under the terms of the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Contributors must sign-off each commit by adding a Signed-off-by: ... line to commit messages to certify that they have the right to submit the code they are contributing to the project according to the Developer Certificate of Origin (DCO).

Contributing

We love pull requests from everyone.

Create a Pull Request

1. Fork the repository: https://help.github.com/articles/fork-a-repo
2. Create a branch in your fork: https://help.github.com/articles/creating-and-deleting-branches-within-your-repository
3. Pull the branch as a pull request targeting cyberbotics:e-puck-ros2@master: https://help.github.com/articles/creating-a-pull-request-from-a-fork
4. Wait for our unit tests and review of your pull request.

Development Guideline

• Avoid comitting files that exist elsewhere. Instead we should link to the source of these files.
• Avoid comitting files that can be re-created from other files using a Makefile, a script or a compiler.