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