e-puck2 PC side development - Revision history

WikiSysop: /* Micropython */

2026-04-21T13:28:10Z

Micropython

← Older revision		Revision as of 13:28, 21 April 2026
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	# If you cannot access REPL, power cycle the robot. In case you are using Thonny then you can simply try restarting the backend.		# If you cannot access REPL, power cycle the robot. In case you are using Thonny then you can simply try restarting the backend.
	When the robot is connected to Bluetooth then the Micropython environment is disabled, instead the classic [https://www.gctronic.com/doc/index.php?title=e-puck2_PC_side_development#Bluetooth_and_USB asercom protocol] mode is enabled.<br/>		When the robot is connected to Bluetooth then the Micropython environment is disabled, instead the classic [https://www.gctronic.com/doc/index.php?title=e-puck2_PC_side_development#Bluetooth_and_USB asercom protocol] mode is enabled.<br/>
	Beware that the RAM available for Python scripts is limited to about 10KB for e-puck 2.0 and e-puck 2.1; e-puck 2.2 and later versions ~~feature significantly expanded memory (ESP32 integrates~~ additional 2 MB of PSRAM~~) allowing~~ for ~~much larger scripts~~.<br/>		Beware that the RAM available for Python scripts is limited to about 10KB for e-puck 2.0 and e-puck 2.1; e-puck 2.2 and later versions are equipped with additional 2 MB of PSRAM, useful e.g. for storing large sensors buffers.<br/>
	At the moment the Micropython environment can be used only through the USB cable.		At the moment the Micropython environment can be used only through the USB cable.

WikiSysop: /* Micropython */

2026-04-21T13:23:24Z

Micropython

← Older revision		Revision as of 13:23, 21 April 2026
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	# If you cannot access REPL, power cycle the robot. In case you are using Thonny then you can simply try restarting the backend.		# If you cannot access REPL, power cycle the robot. In case you are using Thonny then you can simply try restarting the backend.
	When the robot is connected to Bluetooth then the Micropython environment is disabled, instead the classic [https://www.gctronic.com/doc/index.php?title=e-puck2_PC_side_development#Bluetooth_and_USB asercom protocol] mode is enabled.<br/>		When the robot is connected to Bluetooth then the Micropython environment is disabled, instead the classic [https://www.gctronic.com/doc/index.php?title=e-puck2_PC_side_development#Bluetooth_and_USB asercom protocol] mode is enabled.<br/>
	Beware that the RAM ~~memory~~ available for Python scripts is limited to about 10KB for e-puck 2.0 and e-puck 2.1; e-puck 2.2 and later ~~features~~ significantly expanded memory (ESP32 integrates additional 2 MB of PSRAM, allowing for much larger scripts.<br/>		Beware that the RAM available for Python scripts is limited to about 10KB for e-puck 2.0 and e-puck 2.1; e-puck 2.2 and later versions feature significantly expanded memory (ESP32 integrates additional 2 MB of PSRAM) allowing for much larger scripts.<br/>
	At the moment the Micropython environment can be used only through the USB cable.		At the moment the Micropython environment can be used only through the USB cable.

WikiSysop: /* Micropython */

2026-04-21T13:21:49Z

Micropython

← Older revision		Revision as of 13:21, 21 April 2026
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	# If you cannot access REPL, power cycle the robot. In case you are using Thonny then you can simply try restarting the backend.		# If you cannot access REPL, power cycle the robot. In case you are using Thonny then you can simply try restarting the backend.
	When the robot is connected to Bluetooth then the Micropython environment is disabled, instead the classic [https://www.gctronic.com/doc/index.php?title=e-puck2_PC_side_development#Bluetooth_and_USB asercom protocol] mode is enabled.<br/>		When the robot is connected to Bluetooth then the Micropython environment is disabled, instead the classic [https://www.gctronic.com/doc/index.php?title=e-puck2_PC_side_development#Bluetooth_and_USB asercom protocol] mode is enabled.<br/>
	Beware that the RAM memory available for Python scripts is limited to about 10KB for e-puck 2.0 and e-puck 2.1; ~~starting from~~ e-puck 2.2 ~~there is plenty of RAM~~ memory ~~since the~~ ESP32 integrates additional 2 MB of PSRAM.<br/>		Beware that the RAM memory available for Python scripts is limited to about 10KB for e-puck 2.0 and e-puck 2.1; e-puck 2.2 and later features significantly expanded memory (ESP32 integrates additional 2 MB of PSRAM, allowing for much larger scripts.<br/>
	At the moment the Micropython environment can be used only through the USB cable.		At the moment the Micropython environment can be used only through the USB cable.

WikiSysop: /* Micropython */

2026-04-21T13:18:16Z

Micropython

← Older revision		Revision as of 13:18, 21 April 2026
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	# Open a terminal or a Python IDE (e.g. [https://thonny.org/ Thonny]) to access REPL. Use the "e-puck2 Serial Monitor" port (refer to [https://www.gctronic.com/doc/index.php?title=e-puck2#Finding_the_USB_serial_ports_used Finding the USB serial ports used]).		# Open a terminal or a Python IDE (e.g. [https://thonny.org/ Thonny]) to access REPL. Use the "e-puck2 Serial Monitor" port (refer to [https://www.gctronic.com/doc/index.php?title=e-puck2#Finding_the_USB_serial_ports_used Finding the USB serial ports used]).
	# If you cannot access REPL, power cycle the robot. In case you are using Thonny then you can simply try restarting the backend.		# If you cannot access REPL, power cycle the robot. In case you are using Thonny then you can simply try restarting the backend.
			When the robot is connected to Bluetooth then the Micropython environment is disabled, instead the classic [https://www.gctronic.com/doc/index.php?title=e-puck2_PC_side_development#Bluetooth_and_USB asercom protocol] mode is enabled.<br/>
	Beware that the RAM memory available for Python scripts is limited to about 10KB for e-puck 2.0 and e-puck 2.1; starting from e-puck 2.2 there is plenty of RAM memory since the ESP32 integrates additional 2 MB of PSRAM.<br/>		Beware that the RAM memory available for Python scripts is limited to about 10KB for e-puck 2.0 and e-puck 2.1; starting from e-puck 2.2 there is plenty of RAM memory since the ESP32 integrates additional 2 MB of PSRAM.<br/>
	Moreover when the robot is connected to Bluetooth then the Micropython environment is disabled, instead the classic [https://www.gctronic.com/doc/index.php?title=e-puck2_PC_side_development#Bluetooth_and_USB asercom protocol] mode is enabled.<br/>
	At the moment the Micropython environment can be used only through the USB cable.		At the moment the Micropython environment can be used only through the USB cable.

WikiSysop: /* Micropython */

2026-04-21T13:17:36Z

Micropython

← Older revision		Revision as of 13:17, 21 April 2026
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	# Open a terminal or a Python IDE (e.g. [https://thonny.org/ Thonny]) to access REPL. Use the "e-puck2 Serial Monitor" port (refer to [https://www.gctronic.com/doc/index.php?title=e-puck2#Finding_the_USB_serial_ports_used Finding the USB serial ports used]).		# Open a terminal or a Python IDE (e.g. [https://thonny.org/ Thonny]) to access REPL. Use the "e-puck2 Serial Monitor" port (refer to [https://www.gctronic.com/doc/index.php?title=e-puck2#Finding_the_USB_serial_ports_used Finding the USB serial ports used]).
	# If you cannot access REPL, power cycle the robot. In case you are using Thonny then you can simply try restarting the backend.		# If you cannot access REPL, power cycle the robot. In case you are using Thonny then you can simply try restarting the backend.
	Beware that the RAM memory available for Python scripts is limited to about ~~<b>~~10KB</b>. Moreover when the robot is connected to Bluetooth then the Micropython environment is disabled, instead the classic [https://www.gctronic.com/doc/index.php?title=e-puck2_PC_side_development#Bluetooth_and_USB asercom protocol] mode is enabled.<br/>		Beware that the RAM memory available for Python scripts is limited to about 10KB for e-puck 2.0 and e-puck 2.1; starting from e-puck 2.2 there is plenty of RAM memory since the ESP32 integrates additional 2 MB of PSRAM.<br/>
			Moreover when the robot is connected to Bluetooth then the Micropython environment is disabled, instead the classic [https://www.gctronic.com/doc/index.php?title=e-puck2_PC_side_development#Bluetooth_and_USB asercom protocol] mode is enabled.<br/>
	At the moment the Micropython environment can be used only through the USB cable.		At the moment the Micropython environment can be used only through the USB cable.

WikiSysop: /* Tracking */

2026-02-19T10:22:55Z

Tracking

← Older revision		Revision as of 10:22, 19 February 2026
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	The controller is a separate application that receives the data from SwisTrack through the network and opens a Bluetooth connection with each robot in order to remote control them. In the example, the informations received are printed in the terminal while moving the robots around (obstacles avoidance).<br/>		The controller is a separate application that receives the data from SwisTrack through the network and opens a Bluetooth connection with each robot in order to remote control them. In the example, the informations received are printed in the terminal while moving the robots around (obstacles avoidance).<br/>
	The following schema shows the connections schema:<br/>		The following schema shows the connections schema:<br/>
	~~<span class="plain links">~~[~~https~~:~~//projects.gctronic.com/epuck2/wiki_images/~~tracking-schema.png ~~<img width=400 src="https://projects.gctronic.com/epuck2/wiki_images/tracking-schema.png">~~]~~</span>~~<br/>		[[File:tracking-schema.png\|400px]]<br/>


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	The following image shows the example running:<br/>		The following image shows the example running:<br/>
	~~<span class="plain links">~~[~~https~~:~~//projects.gctronic.com/epuck2/wiki_images/~~tracking-epuck2.png ~~<img width=250 src="https://projects.gctronic.com/epuck2/wiki_images/tracking-epuck2_small.png">~~]~~</span>~~<br/>		[[File:tracking-epuck2.png\|250px]]<br/>

	=Matlab=		=Matlab=

WikiSysop: /* WiFi */

2026-02-19T10:21:46Z

WiFi

← Older revision		Revision as of 10:21, 19 February 2026
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	The following figure shows all the topics published by the e-puck2 WiFi ROS node. The same graph can be created using the command <code>rqt_graph</code>. <br/>		The following figure shows all the topics published by the e-puck2 WiFi ROS node. The same graph can be created using the command <code>rqt_graph</code>. <br/>
	[[File:e-puck2_topics_wifi.png\|200px]]~~<br/>~~		[[File:e-puck2_topics_wifi.png\|200px]]
	''<font size="2">Click to enlarge</font>''		''<font size="2">Click to enlarge</font>''

WikiSysop: /* ROS */

2026-02-19T10:20:55Z

ROS

← Older revision		Revision as of 10:20, 19 February 2026
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	=ROS=		=ROS=
	This chapter explains how to use ROS with the e-puck2 robots by connecting them via Bluetooth or WiFi to the computer that runs the ROS nodes. Basically all the sensors are exposed to ROS and you can also send commands back to the robot through ROS. Both Pyhton and cpp versions are implemented to give the user the possibility to choose its preferred programming language. Here is a general schema:<br/>		This chapter explains how to use ROS with the e-puck2 robots by connecting them via Bluetooth or WiFi to the computer that runs the ROS nodes. Basically all the sensors are exposed to ROS and you can also send commands back to the robot through ROS. Both Pyhton and cpp versions are implemented to give the user the possibility to choose its preferred programming language. Here is a general schema:<br/>
	[[File:epuck2-ros-schema.png\|450px]]~~<br/>~~		[[File:epuck2-ros-schema.png\|450px]]
	''<font size="2">Click to enlarge</font>''<br/>		''<font size="2">Click to enlarge</font>''<br/>

WikiSysop: /* ROS */

2026-02-19T10:11:32Z

ROS

← Older revision		Revision as of 10:11, 19 February 2026
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	=ROS=		=ROS=
	This chapter explains how to use ROS with the e-puck2 robots by connecting them via Bluetooth or WiFi to the computer that runs the ROS nodes. Basically all the sensors are exposed to ROS and you can also send commands back to the robot through ROS. Both Pyhton and cpp versions are implemented to give the user the possibility to choose its preferred programming language. Here is a general schema:<br/>		This chapter explains how to use ROS with the e-puck2 robots by connecting them via Bluetooth or WiFi to the computer that runs the ROS nodes. Basically all the sensors are exposed to ROS and you can also send commands back to the robot through ROS. Both Pyhton and cpp versions are implemented to give the user the possibility to choose its preferred programming language. Here is a general schema:<br/>
	~~<span class="plainlinks">~~[~~https~~:~~//www.gctronic.com/doc/images/~~epuck2-ros-schema.png ~~<img width=450 src="https://www.gctronic.com/doc/images/epuck2-ros-schema-small.png">~~]</~~span~~>		[[File:epuck2-ros-schema.png\|450px]]<br/>
	''<font size="2">Click to enlarge</font>''<br/>		''<font size="2">Click to enlarge</font>''<br/>

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	The following figures show all the topics published by the e-puck2 driver node (left) and the <code>rviz</code> interface (right): <br/>		The following figures show all the topics published by the e-puck2 driver node (left) and the <code>rviz</code> interface (right): <br/>
	~~<span class="plainlinks">~~[~~https~~:~~//projects.gctronic.com/epuck2/wiki_images/~~e-puck2_topics.png ~~<img width=200 src="https://projects.gctronic.com/epuck2/wiki_images/e-puck2_topics_small.png">~~]~~</span>~~		[[File:e-puck2_topics.png\|200px]]
	''<font size="2">Click to enlarge</font>''		''<font size="2">Click to enlarge</font>''
	~~<span class="plainlinks">~~[~~https~~:~~//projects.gctronic.com/epuck2/wiki_images/~~e-puck2-rviz.png ~~<img width=400 src="https://projects.gctronic.com/epuck2/wiki_images/e-puck2-rviz_small.png">~~]~~</span>~~		[[File:e-puck2-rviz.png\|400px]]
	''<font size="2">Click to enlarge</font>''<br/>		''<font size="2">Click to enlarge</font>''<br/>

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	The following figure shows all the topics published by the e-puck2 WiFi ROS node. The same graph can be created using the command <code>rqt_graph</code>. <br/>		The following figure shows all the topics published by the e-puck2 WiFi ROS node. The same graph can be created using the command <code>rqt_graph</code>. <br/>
	~~<span class="plainlinks">~~[~~https~~:~~//projects.gctronic.com/epuck2/wiki_images/~~e-puck2_topics_wifi.png ~~<img width=200 src="https://projects.gctronic.com/epuck2/wiki_images/e-puck2_topics_wifi.png">~~]</~~span~~>		[[File:e-puck2_topics_wifi.png\|200px]]<br/>
	''<font size="2">Click to enlarge</font>''		''<font size="2">Click to enlarge</font>''

WikiSysop: /* Webots */

2026-02-19T10:09:38Z

Webots

← Older revision		Revision as of 10:09, 19 February 2026
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	3. Open the example world you can find in the Webots installation directory <code>Webots\projects\robots\gctronic\e-puck\worlds\e-puck2.wbt</code>.<br/>		3. Open the example world you can find in the Webots installation directory <code>Webots\projects\robots\gctronic\e-puck\worlds\e-puck2.wbt</code>.<br/>
	4. Double click the robot or right click on robot and select <code>Show Robot Windows</code>, a new small window will appear: insert the IP address of the robot and click connect.<br/>		4. Double click the robot or right click on robot and select <code>Show Robot Windows</code>, a new small window will appear: insert the IP address of the robot and click connect.<br/>
	:~~<span class="plainlinks">~~[~~https~~:~~//www.gctronic.com/doc/images/~~epuck2-webots.png ~~<img width=450 src="https://www.gctronic.com/doc/images/epuck2-webots.png">~~]</~~span~~>		:[[File:epuck2-webots.png\|450px]]<br/>
	If the IP address filed is not shown, then be sure that your PROTO version is correct: right click on robot, <code>Edit PROTO source</code>, change <code>version</code> field to <code>2</code>, save and reload world.<br/>		If the IP address filed is not shown, then be sure that your PROTO version is correct: right click on robot, <code>Edit PROTO source</code>, change <code>version</code> field to <code>2</code>, save and reload world.<br/>
	5. Now you can start the demo, the robot will be remote controlled.<br/>		5. Now you can start the demo, the robot will be remote controlled.<br/>