Please visit project Wiki pages for details
This is an on-board software, normally residing under Ubuntu Server on a Raspberry Pi. It runs under ROS2 Jazzy base.
Its Gazebo Simulation side runs on a Ubuntu 24.04 desktop (no robot hardware required) - see ROS2 Jazzy Setup (scroll down to here).
For actual physical robots and other information look at Project Wiki
The idea behind this package is to create a working, well-organized "code sample", which could be easily ammended with more robots.
To see how different robots co-exist within this package, look into the robots folder.
Adding a new robot should be as easy as copying an existing folder (e.g. plucky), renaming the copy and modifying files to fit your needs.
Tip: This project is in active development. The main branch is kept as stable as possible. For the latest code, use dev branch.
This software is not ready for production use. It has neither been developed nor tested for a specific use case. However, the license conditions of the applicable Open Source licenses allow you to adapt the software to your needs. Before using it in a safety relevant setting, make sure that the software fulfills your requirements and adjust it according to any applicable safety standards, e.g., ISO 26262.
- The inspiration (and the origin of some code here) is Articulated Robotics by Josh Newans, a mechatronics engineer from Newcastle, Australia. Here is his work:
- This project wouldn't be possible without expert help and inspiration from members of: