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_charing_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.
- Robot Operating System (ROS) 2 (middleware for robotics)
- MIRA (Metralabs middleware for robotic applications)
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