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

<img src="http://rosin-project.eu/wp-content/uploads/rosin_ack_logo_wide.png" alt="rosin_logo" height="60" >

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu

<img src="http://rosin-project.eu/wp-content/uploads/rosin_eu_flag.jpg" alt="eu_flag" height="45" align="left" >

This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.