Meta-ROS

Basic Info

Created by Yao Xinchen, 2023/7/13.
Based on ROS2 Humble.
Tested on Ubuntu 22.04.
Used for RoboMaster Team Meta to control robots.

This project is hoped to be modular, readable and easy to maintain.

Doc

This is a documentation describing how this project is designed -> Meta-ROS-Doc Web

Dependencies

1. ros-humble
2. serial-driver
3. moveit
4. moveit-servo
5. camera-info-manager

Structure

4 main layers: Perception -> Decision -> Decomposition -> Execution

Quickstart

Clone the Project

First, create a workspace and clone the project.

mkdir -p meta_ws/src && cd meta_ws/src
git clone --recurse-submodules https://github.com/Meta-Team/Meta-ROS

Disable scara_moveit

touch Meta-ROS/decomposition/scara_moveit/COLCON_IGNORE

Install dependencies

This project is fully compatible with rosdep.

If you haven't installed rosdep and colcon yet, install it.

sudo apt install python3-rosdep python3-colcon-common-extensions
sudo rosdep init
rosdep update

Then you can easily install the dependencies with this command.

rosdep install -y --rosdistro humble --from-paths . --ignore-src

Note: You may need to manually install Eigen3 because it cannot be automatically resolved by rosdep.

Compile the Project

Simply run

cd Meta-ROS
colcon build --symlink-install --cmake-args '-DCMAKE_EXPORT_COMPILE_COMMANDS=On'

Deploy

Remove brltty first

sudo apt purge brltty

Then install udev rules

./Meta-ROS/tools/install.sh

Then plugin the peripheral board, and run the following command

./Meta-ROS/tools/setupcan.sh

Run hero as example:

source install/setup.bash
ros2 launch meta_bringup hero.launch.py