MarauBot

Simple 2D robot model and simulation, based on Python shapely and Cairo+pygame Librairy for rendering.

Project Components:

• MarauBotMap : Independant librairie
• maraubot_sim : ROS2 simulator

Install

The MarauBot packages relies on Cairo and provide a ROS2 simulator. It should be cloned into your ROS2 workspace.

cd Your/ROS2/workspace
git clone git@github.com:imt-mobisyst/pkg-maraubot.git

MarauBotMap

MarauBotMap need to be installed on your computer using pip.

pip install shapely cairo pygame
pip install ./pkg-maraubot/MarauBotMap

The 'example-simpleSim.py' file provides a simple example for MarauBotMap. The command python3 example-simpleSim.py should instanciate a simulation and open it on a windows.

• packaging: https://packaging.python.org/en/latest/

maraubot_sim

Is a classical ROS2 package develloped on top of MarauBotMap to glue ROS architeecture.

Test

MarauBotMap is developed according to the test-driven methode based on pytest framework.

pip install pytest
pytest