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scitos2

ROS2 License Build Docker image codecov

Overview

scitos2 is a ROS 2 stack designed for Metralabs robots that utilize the MIRA framework, including models such as SCITOS, TORY, MORPHIA, etc. This stack comprises several packages, each serving a unique purpose:

  • scitos2_behavior_tree: This package contains behavior tree nodes that extend your robot's functionalities, such as emergency stop, reset motor stop, etc.
  • scitos2_charging_dock: This package contains the implementation of the charging dock plugin for the SCITOS and TORY robots from MetraLabs using the opennav_docking server.
  • scitos2_common: This package provides common functionalities for the scitos2 stack.
  • scitos2_core: This package provides the abstract interface (virtual base classes) for the Scitos Modules.
  • scitos2_mira: This is the main node that interfaces with the MIRA framework.
  • scitos2_modules: This package implements the MIRA authorities as modules.
  • scitos2_msgs: This package contains messages and services related to the Metralabs Scitos robot base.

Installation

Building from Source

Dependencies

Building

To build from source, clone the latest version from this repository into your colcon workspace and compile the package using the following command:

cd colcon_workspace/src
git clone https://github.com/grupo-avispa/scitos2.git
cd ../
rosdep install -i --from-path src --rosdistro rolling -y
colcon build --symlink-install

Docker

A Dockerfile is provided in the repository to build the scitos2 stack. This setup ensures that you have a consistent and isolated environment. The image sets a launch file to start the mira_framework with the default configuration file: drive and charger modules. This configuration can be modified by changing the CMD instruction in the Dockerfile.

To build and run the scitos2 stack using Docker, follow these steps:

Building the Docker image

First, build the Docker image using the provided Dockerfile in the repository:

cd /path/to/scitos2
docker build -t grupoavispa/scitos2:latest .

Running the Docker container

Once the image is built, you can run the container using the docker compose file provided in the repository. Before running the container:

  • Install the udev rules on your host machine to allow the container to access the robot's hardware.
  • Make sure the license file is in the /opt/MIRA-licenses directory on your host machine.
  • Install the configuration files for the robot in the /opt/SCITOS directory on your host machine.
  • Update the docker-compose.yml file by replacing the XXX placeholders with the correct elements.

Then, run the container using the following command:

docker-compose up