raspiext

1 System

The system can be downloaded from the following link []

user/pw: pi/raspberry
The system starts in console mode, to switch to desktop (LXDE) mode issue the command startx.

2 ROS

The ROS workspace is located in ~/rosbots_catkin_ws/

Before starting the e-puck2 ROS node on the raspberry, issue the following commands:

• export ROS_IP=raspberry-ip
• export ROS_MASTER_URI=http://pc-ip:11311

To start the e-puck2 ROS node issue the command:
roslaunch epuck_driver_cpp epuck_controller.launch epuck_id:='3000'
This launch file will start the e-puck2 node and the camera node.

On the PC side issue the following commands in one terminal:

• export ROS_IP=pc-ip
• export ROS_MASTER_URI=http://pc-ip:11311
• roscore

And then start rviz in another terminal:

• rviz rviz
• open the configuration file named single_epuck_driver_rviz.rviz you can find in epuck_driver_cpp/config/ directory

The e-puck2 robot must be programmed with the following firmware e-puck2_main-processor_gumstix.elf and the selector must be placed in position 10.

The last version of the e-puck2 ROS node can be downloaded from the git: git clone -b e-puck2 https://github.com/gctronic/epuck_driver_cpp.git