robotics_v1

An educational C++20 Robot Operating System 2 (ROS2) Jazzy Jalisco workspace

This is the official repository for the Robotics Accelerator course, created by me and powered by Ocado Technology.

• More on the training - Robotics Accelerator page / Official Video

The project utilizes a personal 2D game_engine set of libraries and highly configurable thread-per-component module architecture.

• More on the game_engine - refer to its documentation

The workspace contains several interesting, competitive, visual games with their respective ROS2 interfaces

• Robo Collector - focused on learning ROS2 topics
• Robo Miner - focused on learning ROS2 services
• Robo Cleaner - focused on learning ROS2 actions
• UR Dev - focused on learning UR robotic motions through URScript

You’re reading the documentation for the latest version of ROS2 - Jazzy Jalisco.
An older, but still supported, version of ROS 2 - Humble Hawksbill, available under the humble branch.
An older, but End-of-Life ROS2 version - Foxy Fitzroy is still supported by this repo, available under the foxy branch.

Build Status

ROS2 Distro	Jazzy Jalisco	Humble Hawksbill	Foxy Fitzroy
Branch	master	humble	foxy
Build Status
OS version	Ubuntu 24.04 LTS	Ubuntu 22.04 LTS	Ubuntu 20.04 LTS
Documentation	ROS2 Jazzy Jalisco	ROS2 Humble Hawksbill	ROS2 Foxy Fitzroy

Previews

ur_control_gui + Rviz2 + UR ros driver 2

robo_collector_gui + robo_collector_controller

Supported Platforms & Compilers

• Linux
  • g++ (9.3 and above)
    • Tested up to g++ 12.1
  • clang++ (10 and above)
    • Tested up to clang++ 14.0
• Windows
  • MSVC++ (14.20 and above) Visual Studio 2019
    • Tested up to 17.30 Visual Studio 2022
    • Note: enable Linux Bash Shell support under Windows to utilise the preset build scripts
    • Note2: although the game-engine is fully MSVC++ compatible, I haven’t tested actual ROS2 functionalities on Windows

Project automated installation

All dependencies in the project could be conveniently installed via preset install scripts. For manual installation refer to ‘Dependencies’ and ‘Third party libs’ sections below.

Please note that ROS2 installation could be quite bulky. For reference, a fresh Ubuntu 22.04 docker image with all compilers, tools, libs and ROS2 installed is close to 7GB. That number could be reduced, but it’s not a focus for this repository.

Host usage

# Warning, the script will install dependencies directly on your host
sudo ./scripts/assisted_install/full_install_on_host.sh

Once the installation phase finishes, for convinience, you can add manual steps to your bashrc. This way each time you open a NEW terminal session, they will be populated for you.

echo "export LANG=en_US.UTF-8" >> ~/.bashrc
echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc
echo "source source /usr/share/colcon_cd/function/colcon_cd-argcomplete.bash" >> ~/.bashrc

Docker support

• Requires Docker Engine (18.09.1 and above)

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