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

There's a document describing how this project is designed -> Meta-ROS-Doc Web

Its source code is provided here -> Meta-ROS-Doc Source

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 metav/src && cd metav/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'