raros is an application consisting of different subsystems that can be used to control a physical robot. This application was developed as part of a project at the Lucerne University of Applied Sciences and Arts with the goal of evaluating how such a control system can be implemented with ROS2.

Ultimately, the project should be able to be used to teach students the basic concepts of programming in a playful way, as they can see their work directly resulting in actions executed by the robot instead of just viewing some text in a terminal.

• Hardware
• Architecture
• Installation
  • Client-Library
  • Controller
  • Microcontroller
• Usage
  • Client-Library
  • Controller
  • Microcontroller
• Development
  • Prerequisites
  • Build
  • Run
• License

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The client library is available on Maven Central and can be used in any Java project.

Maven:

<dependency>
    <groupId>io.github.francwhite</groupId>
    <artifactId>raros-client</artifactId>
    <version>1.0.1</version>
</dependency>

Gradle:

implementation 'io.github.francwhite:raros-client:1.0.1'

All required subsystems for the master controller (RaspberryPi) are available as docker images on GitHub Container Registry. The easiest way to get started is to use the docker-compose.yml file in the root directory of this repository.

Prerequisites:

• docker is installed

The code for the microcontroller (arduino) is available in the micro_ros directory of this repository. To build and flash the software onto the microcontroller, clone the repository and use the flash.sh script located in root of said directory.

Prerequisites:

• PlatformIO CLI is installed

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This project is licensed under the MIT License - see the LICENSE file for details.