• Description
• Documentation
• Clone
• Update
• Build
  • Install dependencies
  • Compile workspace
• Run
• The robot in action

Description

This is a meta-package, containing the various packages needed for the Krabi/Kraboss robot. These packages are git submodules for this packages

Documentation

Have a look at the wiki

Clone

• If you do not already have a ROS 2 workspace, create it: mkdir -p krabi_workspace/src && cd krabi_workspace/src
• go to your workspace's src folder
• git clone git@github.com:VictorDubois/krabi.git --recurse-submodules

If you have just cloned it regularly (without --recurse-submodules), you can still init the submodules:

• git submodule update --init --recursive

Update

To update the submodules, once initialized:

• git submodule update --recursive

Simulation

• sudo apt-get install ros-${ROS_DISTRO}-ros-gz
• Clone this additionnal repository in krabi_workspace/src: https://github.com/VictorDubois/krabby_description

(It is not in the Krabi meta-package, as it does not run on the real robot)

Build

Install dependencies

Go to the workspace (krabi_workspace), then:

rosdep install --from-paths src -y --ignore-src  --skip-keys="krabilib"
sudo apt-get install ros-$ROS_DISTRO-diagnostic-updater
sudo apt install python3-colcon-common-extensions

Compile workspace

colcon build --merge-install --symlink-install --cmake-args '-DCMAKE_BUILD_TYPE=RelWithDebInfo' '-DCMAKE_EXPORT_COMPILE_COMMANDS=On' -Wall -Wextra -Wpedantic

(see alias bellow)

Run

To run the robot within the simulation do:

• source install/setup.zsh ou source install/setup.sh
• ros2 launch krabi_bringup krabi_launch.py xRobotPos:=0.275 yRobotPos:=0.775 zRobotOrientation:=-1.570796327 isBlue:=false

Usefull aliases

• alias krabi="source /opt/ros/jazzy/setup.bash && cd <path_to_workspace> && source install/local_setup.bash && export GZ_PARTITION=krabigz && export ROS_DOMAIN_ID=0
• alias krabiSimu="krabi && ros2 launch krabi_description spawn_world.py gui:=False"
• alias krabiSimuGui="krabi && ros2 launch krabi_description spawn_world.py"
• alias krabiSimuFull="krabi && ros2 launch krabi_description spawn_world.py world:=table2026Full.world gui:=False"
• alias krabiRun="krabi && ros2 launch krabi_bringup krabi_launch.py xRobotPos:=-1.25 yRobotPos:=-0.75 zRobotOrientation:=1.570796327 isBlue:=True use_aruco:=False"
• alias krabiRunLidarLoc="krabi && ros2 launch krabi_bringup krabi_launch.py xRobotPos:=-1.275 yRobotPos:=-0.775 zRobotOrientation:=-1.570796327 isBlue:=True use_lidar_loc:=True"
• alias krabiRunAruco="krabi && ros2 launch krabi_bringup krabi_launch.py xRobotPos:=-1.25 yRobotPos:=-0.75 zRobotOrientation:=1.570796327 isBlue:=True use_aruco:=True"
• alias krabuild="colcon build --merge-install --symlink-install --cmake-args '-DCMAKE_BUILD_TYPE=RelWithDebInfo' '-DCMAKE_EXPORT_COMPILE_COMMANDS=On' -Wall -Wextra -Wpedantic"

In action

Current team

2025

Match 4 Match 3 Match 2 Match 1

2024

Match 4 Match 2 Match 1

2023

Match 3 Match 2

2022

2021

2020

2019

Historic teams

2017 (4g1c)

No videos worth showing :'(

Krabi - Télécom Bretagne

Krabi 2015

Krabi 2014

Krabi 2013

Krabi 2012: 24th!

More on the Youtube channel