Build

Onboard build

cd ~/ros
source /opt/ros/foxy/setup.bash
./setup.bash robot_name
source install/setup.bash

Dev / Simulation build

. /path/to/ros/install/setup.bash
cd path/to/ros
./setup.bash simulation
. install/setup.bash

Few service calls

Enable stepper drivers

ros2 service call /obelix/enable_drivers  std_srvs/SetBool "{data: true}"

Send action goal

ros2 action send_goal /asterix/navigate_to_pose nav2_msgs/action/NavigateToPose "{'pose': {'pose': {'position': {'x': 1.25, 'y': 0.25}, 'orientation':{'z':0.7071068, 'w':0.7071068}}}}"

Deploy pharaon

ros2 service call /pharaon/deploy std_srvs/srv/Trigger

Disable Aruco detection

ros2 service call /enable_aruco_detection std_srvs/SetBool "{data: false}"

Publish to LCD screen

ros2 topic pub -1 /obelix/lcd lcd_msgs/Lcd "{text: 'sudo reboot', line: 1}"

Changelog

v0.9.0

• Improved overall documentation rules
• Fixed map_server launcher #44
• Improved odometry readjustment routine #43
• Added Vlx odometry readjustment functionality #43
• Added odom_map_relative Pose_Stamped topic #43
• Refactored Localisation #43
• Added vlx_manager in Webots #43
• CI will fail if any node crashes #42
• CI automaticaly removes artifacts older than 2 weeks #37
• Added 2 teb_controllers (nominal, accurate) #36
• Added custom_goal_checker plugin #36
• Added costmap_converter_custom plugin #36
• Added bt_boolean_condition plugin #36
• Added bt_split_goal plugin #36
• Added costmap_converter_custom plugin #35
• Added black python code formatter check in CI #32
• Added service adjust_odometry #31
• Added possibility to readjust odometry #31
• Improved teb_controller parameters #29
• Improved navigation2 parameters #29
• Updated packages.xml to add support for mothership and valhalla

v0.8.4

• Added localisation node compatible with side selection interfaces with service call for odometry correction
• Fixed bug in costmap causing robot position to be evaluated outside of it
• Fixed bugs in NavigateToPose calculation
• Added actuators drivers with full support for ArbotixM
• Added templating for YAML files
• Added non-blocking selftest upon startup
• Added service call disable for aruco detection
• Added service call disable for drive steppers
• Added actuators logic in strategy
• Fixed ATTiny-85 firmwares for sliders
• Improved assurancetourix aruco detection with better camera calibration
• Improved and fixed ATTiny for steppers WARNING : There is still an unresolved bug which causes I2C bus to freeze randomly
• Fixed VL53L1X sensors initialisation board's firmware
• Refactored Pharaon firmware
• Refactored Panoramix
• Refactored cetautomatix
• Removed sensors node
• Droped ubuntu 20.04.1 LTS for Raspbian Buster 10
• Precompiled ros2 binaries now available in releases

v0.8.0

• Updated linux distro to ubuntu 20.04 LTS
• Updated ROS2 distro to Foxy
• Added webots simulation world for Physical based simulation
• Automated cloud based simulation on Github Actions CI
• New Timed Elastic Band (TEB) Controller achieving high speed and precision
• Added package Titan for simulation mode
• Compatibility with ros2_cross_compile for packaging x86_64/arm64 ros2 packages
• Refactored cetautomatix
• Simulation mode for assurancetourix, drive and pharaon
• Fixed many bugs thanks to simulation mode, including race conditions between modules

v0.7.0

• Full support for asterix, obelix, assurancetourix and pharaon running simultaneously
• Upstreamed navigation2 stack to master branch
• Refactored behavior trees with full strategy engine support
• Robot launchers templating
• Support for border in map
• Added transformix service for transformations
• Added firmware for microcontrolers and pharaon
• Consistent code formatting through the whole repository
• Refactored setup script and updated docs
• Default build type for cmake is now Release
• Updated CI to use setup script in simulation mode
• Added changelog

v0.6.0b

• Added actuators node, with full support for Arbotix-M and actuators board
• Partial namespacing for asterix
• Assurancetourix node fine tuning
• Added cetautomatix node, descision node based on behavior trees
• Added ST VL53L1X ToF sensors support in sensor node
• Creation of docs for I2C and debugging
• Created panoramix server node

v0.5.0

• Pharaon interface as ROS 2 service
• URDF XACRO templating for asterix and obelix
• Added support for MIPI_CAMERA in assurancetourix
• Higher accuracy in navigation

v0.4.0

• Created assurancetourix ARUCO detection Node
• Added LCD screen driver node
• Tuning the navigation stack

v0.3.0

• Fixes inside drive node for odometry
• Added sensors inside URDF
• Adding support for ROS 2 navigation stack

v0.2.0

• Adding odometry to drive node
• Adding sensors node with support for custom HCSR04 over I2C
• Adding parameters file

v0.1.0

• Drive node creation. Supports receiving speed commands
• Range sensors PoC using ARM mbed on FRDM K64F