Meta-ROS

Basic Info

Created by Yao Xinchen, 2023/7/13.
Based on ROS2 Jazzy/Humble.
Tested on Ubuntu 24.04/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/ros-jazzy
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.

If you are on Ubuntu 24.04 with ROS2 jazzy and then run:

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

If you are on Ubuntu 22.04 with ROS2 humble and then run:

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