ARGoS3 - Turtlebot 3 integration

This repository contains the code that integrates the ARGoS3 multi-robot simulator and the Turtlebot 3 robot.

This code allows you to simulate the Turtlebot 3 in ARGoS3, and to run ARGoS3 controllers on the real Turtlebot 3.

Compilation Instructions

To Simulate The Turtlebot 3 in ARGoS3

$ mkdir build
$ cd build
$ cmake -DCMAKE_BUILD_TYPE=Release ../src
$ make
$ sudo make install

To Run ARGoS3 Code on the Turtlebot 3

First, you need to install the light toolchain provided by K-Team.

Next, you need to designate a folder where you'll install all the ARGoS-related binaries. Let's call this folder ${INSTALLPREFIX}. Make sure the folder exists and it is writable by your user:

$ mkdir -p ${INSTALLPREFIX}

To make ARGoS controllers work on the Turtlebot 3, you need to crosscompile the ARGoS core and the Turtlebot 3 plugin. In the following, we will assume that you have three directories:

Variable	Meaning
`INSTALLPREFIX`	Where the compile code is installed
`ARGOS3PATH`	Where the ARGoS3 core code is stored
`tb3PATH`	Where the the code of this plugin is stored

Crosscompiling the ARGoS core

To compile the ARGoS core for the Turtlebot 3, follow these instructions:

$ cd ${ARGOS3PATH}
$ mkdir build_tb3
$ cd build_tb3
$ cmake -DCMAKE_TOOLCHAIN_FILE=${tb3PATH}/src/cmake/TargetTurtlebot3.cmake -DCMAKE_INSTALL_PREFIX=${INSTALLPREFIX} ../src
$ make install

Crosscompiling the Turtlebot 3 plugin

To compile the Turtlebot 3 plugin code, follow these instructions: