ROS packages for Sphero robots.

Various ROS packages for Sphero robots, usable in simulation and with real robots, including localization, control, teleoperation and more. The driver was developed specifically for Sphero SPRK+ model, but with an appropriate driver, these packages can be used for other robots as well.

This repository currently consists of following packages:

• sphero_bringup: Launch files for starting common functionality groups
• sphero_control: Automatic control of Sphero robots (PID controllers, velocity trackers, ...)
• sphero_driver_v2: New version of Python API for controlling the Spheros wrapped as ROS node.
• sphero_localization: External localization and state estimation (Kalman filter, visual positioning, ...)
• sphero_sprk_ros: ROS/Python driver for Sphero SPRK+.
• sphero_teleop: Manual control of Sphero robots (joystick, keyboard, ...)
• sphero_utils: Utility stuff that doesn't have its place elsewhere.

For detailed information about each package, please look at their respective READMEs.

More packages are coming soon:

• sphero_simulation: Gazebo simulation
• sphero_description: urdf and visual files for Sphero robots
• ...

Requirements

• Ubuntu 18.04, or 20.04
• ROS Noetic
  • Additional required packages:
    • None at the moment
• Python 3.x
  • Additional libraries:
    • pip3 install numpy imutils bleak opencv-python ruamel.yaml

Installation

1. Install all the requirements.
2. Create a new catkin workspace or use an existing one.
3. Clone the repository in the src folder of your workspace and update git submodules:

   $ cd <path_to_your_ws>/src/
   $ git clone --recursive git@github.com:larics/sphero_robot.git

4. Install dependencies using rosdep:

   $ rosdep install --from-paths . --ignore-src -r -y

5. Build everything using catkin_tools (recommended):

   $ catkin build

   or catkin_make:

   $ cd <path_to_your_ws>
   $ catkin_make

6. If you want to get the latest changes, use:

   $ git pull --recurse-submodules

Usage

It is recommended to launch the drivers for the selected number of Spheros in a separate terminal using the launch file provided in sphero_sprk_ros or sphero_drivers_v2 packages (sometimes it is necessary to re-start the drivers a few times before all connections are successful). In a second terminal, use one of the provided launch files in sphero_bringup package.

$ roslaunch sphero_sprk_ros drivers.launch  # 1st terminal
$ roslaunch sphero_bringup <desired_functionality>.launch  # 2nd terminal

Otherwise, feel free to look into the packages and write your own launch files if the desired combination is not available.