Terrain ID and Behavior Tree

Behavior tree for changing locomotion methods based on terrain identification. For Multi-terrain Amphibious ARCtic explOrer (MAARCO) at NCSU.

Behavior Tree

Terrain Mode Changes

Build Instructions

Clone the repo, place it in the src folder of a ros2 workspace. Then:

colcon build --symlink-install
source install/setup.bash

Packages can be listed via

ros2 pkg list

and nodes in that package:

ros2 pkg executables <pkg name>

Run Instructions

To run the behavior tree node:

ros2 run maarco_bt heading_bt_node

To run the pd controller, motor driver, and serial reader node. Run this launch file:

ros2 launch maarco_bt maarco_control.launch.py

To run them individually:

To run the pd controller:

ros2 run heading_controller heading_controller

To run the motor driver:

ros2 run motor_driver motor_driver

To run the serial reader node:

ros2 run serial_reader serial_node