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scitos2

ROS2 License Build codecov

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.
  • scito2_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

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