Introduction

The purpose of this package is to connect ROS with the ARGoS (henceforth argos) robot simulator.

http://www.argos-sim.info

The basic concept is the use of an argos plugin (in the 'plugin' directory). When argos is executed it looks at ARGOS_PLUGIN_PATH which you should have configured to find this plugin. The plugin represents a single robot which subscribes and publishes to ROS topics. If the argos world has multiple robots, they will each have a separate instance of the C++ class in the 'plugin' dir which connects to ROS.

Setup

Argos bridge is provided with a docker environment which includes all components needed for a simple demo.
Start the container using:

docker-compose up --build  

Open a bash shell using:

docker exec -it $(docker ps --format "{{.ID}}") /bin/bash

Use

Find the launch script at argos_brige/launch to start a simulation.
Example usage:

./launch.sh [name of argos world] [name of ros launch file]

Store argos worlds and ros launch files in the launch directory according to the file structure:

/launch
  |-> /argos_worlds {store argos files here}
  |-> /roslaunch_files {store ros launch files here}
  |-> launch.sh {launch script for simulations}
  |-> killall.sh {kills all ros and argos processes to end a simulation}

File Structure

/argos_brige
  |-> CMakeLists.txt    
  |-> package.xml       
  |-> /launch           
        |-> /argos_worlds
        |-> /roslaunch_files
  |-> /msg              
  |-> /plugin            
        |-> CmakeLists.txt
        |-> /loop_functions
              |-> /clock_loop_functions
        |-> /controllers
              |-> /khepraiv_ros  
              |-> /abstract_ros_controller
  |-> ros_lib_links
  |-> scripts

Issues

Author

Peter Nikopoulos (peter@nikopoulos.net)
(originally forked from BOTSlab/argos_bridge)