VladimirVincan/mep3

Memristor Eurobot Platform based on ROS 2

mep3

Memristor Eurobot Platform based on ROS 2

Getting Started

• Install git and git-lfs (see tutorial)
• Create a new workspace foxy_ws and source foxy_ws/src directory

mkdir -p foxy_ws/src

• Clone this repository to foxy_ws/src/mep3

git clone https://github.com/memristor/mep3.git ./foxy_ws/src/mep3

Editing Webots world

• Install Webots R2021b
• Open webots_data/worlds/eurobot_2022.wbt in Webots
• Stop simulation and set time to 00:00:00
• Save changes
• Commit all changes except for Viewpoint

ROS 2 setup

• Install ROS 2 foxy
• Change working directory to foxy_ws
• Configure ROS 2 workspace

source /opt/ros/foxy/local_setup.bash
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro  foxy

Running the simulation

• Change working directory to foxy_ws
• Build files (and rebuild on every modification):

colcon build
source ./install/local_setup.bash

• Run the simulation

ros2 launch mep3_simulation robot_launch.py

• Control the robot from another terminal window

source /opt/ros/foxy/local_setup.bash
ros2 run teleop_twist_keyboard teleop_twist_keyboard