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Run Micipsa Stack

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Run#

Important

Micipsa can be run using either a native ROS 2 workspace or a Docker-based containerized stack.

Before continuing, choose the workflow that best fits your setup:

  • Native: Run the packages directly in a ROS 2 workspace. Follow Native Section instructions.
  • Docker (recommended): Run the software stack using Docker Compose. Follow Docker Section instructions.

Both workflows support simulation and deployment on the real robot.

Native#

Important

Before proceeding, ensure you have completed the Native build by following Micipsa Build Instructions.

Source the workspace:

cd ~/ros2_ws/
source install/setup.bash

Launch Micipsa Stack:

ros2 launch micipsa_bringup bringup.launch.py

By default this launches in simulation and slam mode. To run on the real robot, you must edit the bringup config file deploy_mode and use_sim_time settings as follows:

settings:
  deploy_mode: true
  use_sim_time: false

For detailed information on configuring and modifying the robot settings, please refer to the Micipsa Bringup Configuration guide.

Docker#

Important

For details on compose_launcher.py, see the Compose Launcher Documentation.

For robot configuration, see the Micipsa Bringup Configuration guide.

Simulation#

cd ~/ros2_ws/src/micipsa/infra/docker/scripts/
python3 compose_launcher.py up --mode sim

Deploy#

cd ~/ros2_ws/src/micipsa/infra/docker/scripts/
python3 compose_launcher.py up --mode deploy

Stop Docker Containers#

cd ~/ros2_ws/src/micipsa/infra/docker/scripts/
python3 compose_launcher.py down

its alive