ROS 2 Implementation of AECP — Autonomous Elemental Characterization Platform

This repository contains the ROS 2 action servers and Behavior Tree implementations of the autonomous elemental characterization platform. This is one component of the software stack for the paper "Autonomous elemental characterization enabled by a low cost robotic platform built upon a generalized software architecture".

Environments

• Ubuntu 22.04.5 LTS (Jammy Jellyfish)
• ROS 2 Humble
• Python 3.10

Usage

1. Clone this repo to your ROS 2 workspace
2. Install dependencies

sudo rosdep init
rosdep update
rosdep install --from-paths src -y --ignore-src

3. Build

colcon build

Start use the packages