scitos2

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

• Robot Operating System (ROS) 2 (middleware for robotics)
• MIRA (Metralabs middleware for robotic applications)

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