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

Install dependencies

This project is fully compatible with rosdep, 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

colcon build --symlink-install --cmake-args '-DCMAKE_EXPORT_COMPILE_COMMANDS=On'