Skip to content

Setup

Getting Started

Prerequisites

  • ROS 2 Humble
  • C++17 compatible compiler
  • Python 3
  • Required ROS 2 dependencies
  • Git LFS (for large files)

Installation

a. Extract ros2-sdk

Make sure that enchanted-sdk is installed before running the following commands.

cd $HOME/enchanted-sdk/raw
mkdir -p $HOME/mirokai_workspace
# unzip the archive into this folder
tar -xzvf ros2-sdk-legend-of-mirokai-vX.Y.Z.tar.gz -C $HOME/mirokai_workspace
cd $HOME/mirokai_workspace/ros2-sdk-legend-of-mirokai-vX.Y.Z

b. Build the packages 

source /opt/ros/humble/setup.bash
colcon build
source install/setup.bash

Note

  • For simulation: Use only mirokai_description and control_examples packages
  • For real robot: You must set up the Zenoh network first
  • The Zenoh network is only needed when working with physical robots
  • Simulation mode provides a complete environment without external dependencies
  • Real robot mode requires network communication through Zenoh to connect with the physical robot

Documentation

Each package contains its own detailed documentation: - Control Examples Documentation - Docker Visualization Documentation - Native Visualization Documentation

Support

For support or questions, please refer to the documentation in each package's README file or contact the development team.

Contributing

Contributions are welcome! Please follow the standard ROS 2 development guidelines and maintain consistency with the existing codebase.