e-puck2 PC side development - Revision history

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/>

WikiSysop: /* WiFi */

2026-02-19T10:08:10Z

WiFi

← Older revision		Revision as of 10:08, 19 February 2026
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	* 0x02 = sensors packet; packet size (without id) = 104 bytes; the format of the returned values are based on the [https://www.gctronic.com/doc/index.php/Advanced_sercom_protocol advanced sercom protocol] and are compatible with e-puck1.x:		* 0x02 = sensors packet; packet size (without id) = 104 bytes; the format of the returned values are based on the [https://www.gctronic.com/doc/index.php/Advanced_sercom_protocol advanced sercom protocol] and are compatible with e-puck1.x:

	:~~<span class="plain links">~~[~~https~~:~~//projects.gctronic.com/epuck2/wiki_images/~~packet-format-robot-to-pc.jpg ~~<img width=1150 src="https://projects.gctronic.com/epuck2/wiki_images/packet-format-robot-to-pc.jpg">~~]~~</span>~~<br/>		:[[File:packet-format-robot-to-pc.jpg \|1150px]]<br/>
	:*Acc: raw axes values (0=X LSB, 1=X MSB, 2=Y LSB, 3=Y MSB, 4=Z LSB, 5=Z MSB), between -1500 and 1500, resolution is +-2g		:*Acc: raw axes values (0=X LSB, 1=X MSB, 2=Y LSB, 3=Y MSB, 4=Z LSB, 5=Z MSB), between -1500 and 1500, resolution is +-2g
	:*Acceleration expressed in float: acceleration magnitude ~~<img width=70 src="https~~:~~//projects.gctronic.com/epuck2/wiki_images/~~3dvector-magnitude.png">, between 0.0 and about 2600.0 (~3.46 g)		:*Acceleration expressed in float: acceleration magnitude [[File:3dvector-magnitude.png \|70px]], between 0.0 and about 2600.0 (~3.46 g)
	:*Orientation expressed in float: between 0.0 and 360.0 degrees <table><tr><td align="center">0.0 deg</td><td align="center">90.0 deg</td><td align="center">180 deg</td><td align="center">270 deg</td></tr><tr><td>~~<img width=80 src="https~~:~~//projects.gctronic.com/epuck2/wiki_images/~~orientation0.png"></td><td>~~<img width=80 src="https~~:~~//projects.gctronic.com/epuck2/wiki_images/~~orientation90.png"></td><td>~~<img width=80 src="https~~:~~//projects.gctronic.com/epuck2/wiki_images/~~orientation180.png"></td><td>~~<img width=80 src="https~~:~~//projects.gctronic.com/epuck2/wiki_images/~~orientation270.png"></td></tr></table>		:*Orientation expressed in float: between 0.0 and 360.0 degrees <table><tr><td align="center">0.0 deg</td><td align="center">90.0 deg</td><td align="center">180 deg</td><td align="center">270 deg</td></tr><tr><td>[[File:orientation0.png \|80px]]</td><td>[[File:orientation90.png \|80px]]</td><td>[[File:orientation180.png \|80px]]</td><td>[[File:orientation270.png \|80px]]</td></tr></table>

	:*Inclination expressed in float: between 0.0 and 90.0 degrees (when tilted in any direction)<table><tr><td align="center">0.0 deg</td><td align="center">90.0 deg</td></tr><tr><td>~~<img width=80 src="https~~:~~//projects.gctronic.com/epuck2/wiki_images/~~inclination0.png"></td><td>~~<img width=80 src="https~~:~~//projects.gctronic.com/epuck2/wiki_images/~~inclination90.png"></td></tr></table>		:*Inclination expressed in float: between 0.0 and 90.0 degrees (when tilted in any direction)<table><tr><td align="center">0.0 deg</td><td align="center">90.0 deg</td></tr><tr><td>[[File:inclination0.png \|80px]]</td><td>[[File:inclination90.png \|80px]]</td></tr></table>
	:*Gyro: raw axes values (0=X LSB, 1=X MSB, 2=Y LSB, 3=Y MSB, 4=Z LSB, 5=Z MSB), between -32768 and 32767, range is +-250dps		:*Gyro: raw axes values (0=X LSB, 1=X MSB, 2=Y LSB, 3=Y MSB, 4=Z LSB, 5=Z MSB), between -32768 and 32767, range is +-250dps
	:*Magnetometer: raw axes values expressed in float, range is +-4912.0 uT (magnetic flux density expressed in micro Tesla)		:*Magnetometer: raw axes values expressed in float, range is +-4912.0 uT (magnetic flux density expressed in micro Tesla)
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	The following IDs are used to send data from the computer to the robot:		The following IDs are used to send data from the computer to the robot:
	* 0x80 = commands packet; packet size (without id) = 20 bytes:		* 0x80 = commands packet; packet size (without id) = 20 bytes:
			:[[File:packet-format-pc-to-robot.jpg\|600px]]<br/>
	:~~<span class="plain links">~~[~~https~~:~~//projects.gctronic.com/epuck2/wiki_images/~~packet-format-pc-to-robot.jpg ~~<img width=600 src="https://projects.gctronic.com/epuck2/wiki_images/packet-format-pc-to-robot.jpg">~~]~~</span>~~<br/>

	:*request:		:*request:

WikiSysop: /* Bluetooth and USB */

2026-02-19T10:03:06Z

Bluetooth and USB

← Older revision		Revision as of 10:03, 19 February 2026
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	\|<code>-0x08</code>		\|<code>-0x08</code>
	\|Get all sensors		\|Get all sensors
	\|~~<span class="plain links">~~[~~https~~:~~//projects.gctronic.com/epuck2/wiki_images/~~packet-format-robot-to-pc.jpg ~~<img width=1150 src="https://projects.gctronic.com/epuck2/wiki_images/packet-format-robot-to-pc.jpg">~~]~~</span>~~		\|[[File:packet-format-robot-to-pc.jpg\|1150px]]
	see section [https://www.gctronic.com/doc/index.php?title=e-puck2_PC_side_development#WiFi_2 Communication protocol: WiFi] for the content description		see section [https://www.gctronic.com/doc/index.php?title=e-puck2_PC_side_development#WiFi_2 Communication protocol: WiFi] for the content description
	\|-		\|-
	\|<code>-0x09</code>		\|<code>-0x09</code>
	\|Set all actuators		\|Set all actuators
	\|~~<span class="plain links">~~[~~https~~:~~//projects.gctronic.com/epuck2/wiki_images/~~packet-format-pc-to-robot-bt.jpg ~~<img width=600 src="https://projects.gctronic.com/epuck2/wiki_images/packet-format-pc-to-robot-bt.jpg">~~]~~</span>~~		\|[[File:packet-format-pc-to-robot-bt.jpg\|600px]]
	see section [https://www.gctronic.com/doc/index.php?title=e-puck2_PC_side_development#WiFi_2 Communication protocol: WiFi] for the content description		see section [https://www.gctronic.com/doc/index.php?title=e-puck2_PC_side_development#WiFi_2 Communication protocol: WiFi] for the content description
	\|-		\|-
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	\|<code>-0x12</code>		\|<code>-0x12</code>
	\|Get all sensors 2.2 (compact)		\|Get all sensors 2.2 (compact)
	\|~~<span class="plain links">~~[~~https~~:~~//projects.gctronic.com/epuck2/wiki_images/~~packet-format-pc-to-robot-getAllSensors2.2.jpg ~~<img width=1150 src="https://projects.gctronic.com/epuck2/wiki_images/packet-format-pc-to-robot-getAllSensors2.2.jpg">~~]~~</span>~~		\|[[File:packet-format-pc-to-robot-getAllSensors2.2.jpg\|1150px]]
	* Pitch in degrees [-180; 180], roll in degrees [-180; 180], yaw in degrees [0; 360]<br/>		* Pitch in degrees [-180; 180], roll in degrees [-180; 180], yaw in degrees [0; 360]<br/>
	~~<span class="plain links">~~[~~https~~:~~//projects.gctronic.com/epuck2/wiki_images/~~e-puck2_imu.jpg ~~<img width=200 src="https://projects.gctronic.com/epuck2/wiki_images/e-puck2_imu.jpg">~~]~~</span>~~		[[File:e-puck2_imu.jpg\|200px]]
	* Accelerometer, gyroscope and magnetometer accuracy: [0; 3] where 3 is maximum accuracy		* Accelerometer, gyroscope and magnetometer accuracy: [0; 3] where 3 is maximum accuracy
	* Temp: temperature given in Celsius degrees		* Temp: temperature given in Celsius degrees

WikiSysop: /* Network configuration */

2026-02-19T09:56:18Z

Network configuration

← Older revision		Revision as of 09:56, 19 February 2026
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	Once the connection is established, the LED2 will be green.<br/>		Once the connection is established, the LED2 will be green.<br/>

	In order to reset the current configuration you need to press the user button for 2 seconds (the LED2 red will turn on), then you need to power cycle the robot to enter ''access point mode''.		In order to reset the current configuration you need to press the user button for 2 seconds (the LED2 red will turn on), then you need to power cycle the robot to enter ''access point mode''.<br/>
	[[File:e-puck2-wifi-reset.png\|250px]]<br/>		[[File:e-puck2-wifi-reset.png\|250px]]<br/>

WikiSysop: /* Connecting to the WiFi */

2026-02-19T09:55:44Z

Connecting to the WiFi

← Older revision		Revision as of 09:55, 19 February 2026
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	* blue (toggling) indicates that the robot is transferring the image to the computer		* blue (toggling) indicates that the robot is transferring the image to the computer
	* off when the robot cannot connect to the saved configuration		* off when the robot cannot connect to the saved configuration
	::~~<span class="plain links">~~[~~https~~:~~//projects.gctronic.com/epuck2/wiki_images/~~e-puck2-wifi-led.png ~~<img width=250 src="https://projects.gctronic.com/epuck2/wiki_images/e-puck2-wifi-led-small.png">~~]~~</span>~~<br/>		::[[File:e-puck2-wifi-led.png\|250px]]<br/>

	==Network configuration==		==Network configuration==
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	</tr>		</tr>
	<tr>		<tr>
	<td>[~~https~~:~~//projects.gctronic.com/epuck2/wiki_images/~~esp32-wifi-setup1.png ~~<img width=150 src="https://projects.gctronic.com/epuck2/wiki_images/esp32-wifi-setup1.png">~~]</td>		<td>[[File:esp32-wifi-setup1.png\|150px]]</td>
	<td>[~~https~~:~~//projects.gctronic.com/epuck2/wiki_images/~~esp32-wifi-setup2.png ~~<img width=150 src="https://projects.gctronic.com/epuck2/wiki_images/esp32-wifi-setup2.png">~~]</td>		<td>[[File:esp32-wifi-setup2.png\|150px]]</td>
	<td>[~~https~~:~~//projects.gctronic.com/epuck2/wiki_images/~~esp32-wifi-setup3.png ~~<img width=150 src="https://projects.gctronic.com/epuck2/wiki_images/esp32-wifi-setup3.png">~~]</td>		<td>[[File:esp32-wifi-setup3.png\|150px]]</td>
	<td>[~~https~~:~~//projects.gctronic.com/epuck2/wiki_images/~~esp32-wifi-setup4.png ~~<img width=150 src="https://projects.gctronic.com/epuck2/wiki_images/esp32-wifi-setup4.png">~~]</td>		<td>[[File:esp32-wifi-setup4.png\|150px]]</td>
	</tr>		</tr>
	</table>		</table>
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	In order to reset the current configuration you need to press the user button for 2 seconds (the LED2 red will turn on), then you need to power cycle the robot to enter ''access point mode''.		In order to reset the current configuration you need to press the user button for 2 seconds (the LED2 red will turn on), then you need to power cycle the robot to enter ''access point mode''.
	~~::<span class="plain links">~~[~~https~~:~~//projects.gctronic.com/epuck2/wiki_images/~~e-puck2-wifi-reset.png ~~<img width=250 src="https://projects.gctronic.com/epuck2/wiki_images/e-puck2-wifi-reset-small.png">~~]~~</span>~~<br/>		[[File:e-puck2-wifi-reset.png\|250px]]<br/>

	==Finding the IP address==		==Finding the IP address==
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	Otherwise you need to connect the robot to the computer with the USB cable, open a terminal and connect to the port labeled <code>Serial Monitor</code> (see chapter [https://www.gctronic.com/doc/index.php?title=e-puck2#Finding_the_USB_serial_ports_used Finding the USB serial ports used]). Then power cycle the robot and the IP address will be shown in the terminal (together with others informations), as illustrated in the following figure:<br/>		Otherwise you need to connect the robot to the computer with the USB cable, open a terminal and connect to the port labeled <code>Serial Monitor</code> (see chapter [https://www.gctronic.com/doc/index.php?title=e-puck2#Finding_the_USB_serial_ports_used Finding the USB serial ports used]). Then power cycle the robot and the IP address will be shown in the terminal (together with others informations), as illustrated in the following figure:<br/>
	~~<span class="plain links">~~[~~https~~:~~//projects.gctronic.com/epuck2/wiki_images/~~esp32-wifi-setup5.png ~~<img width=500 src="https://projects.gctronic.com/epuck2/wiki_images/esp32-wifi-setup5.png">~~]</~~span~~>		[[File:esp32-wifi-setup5.png\|500px]]<br/>

	==Testing the WiFi connection==		==Testing the WiFi connection==

WikiSysop: /* Windows 10 */

2026-02-19T09:53:34Z

Windows 10

← Older revision		Revision as of 09:53, 19 February 2026
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	# click on <code>More Bluetooth options</code>		# click on <code>More Bluetooth options</code>
	# the ports and related channels are listed in the <code>COM Ports</code> tab, as shown in the following figure:<br/>		# the ports and related channels are listed in the <code>COM Ports</code> tab, as shown in the following figure:<br/>
	:[[File:BT-connection-win10.png\|~~600px~~]]<br/>		:[[File:BT-connection-win10.png\|800px]]<br/>

	==Linux==		==Linux==