ARGoS3 Turtlebot4 and New Robot Templates

This repository contains ARGoS3 plugins for the Turtlebot4 together with a couple of lightweight robot examples that can be copied when creating new robots.

Prerequisites

• Install ARGoS3 from the official repository so that headers, libraries, and the argos3 executable are present on your system.
• Optional (but recommended): skim through the developer manual to understand how ARGoS3 expects plugins to be structured.

Build and Install

Use the helper script or run the commands manually:

# configures and builds in ./build (Debug by default)
./build.sh           

# same as above plus sudo make install
./build.sh install   

Manual steps:

mkdir -p build && cd build
cmake -DCMAKE_BUILD_TYPE=Debug ..
make -j$(nproc)

# to install libraries/headers into your ARGoS3 prefix
sudo make install    

If you prefer running without sudo make install, set ARGOS_PLUGIN_PATH to <repo>/build/argos3/plugins/robots/<plugin> before launching argos3 so it can find the shared libraries.

export EXAMPLEDIR=../argos3_plugins/new_robots
export ARGOS_PLUGIN_PATH=$EXAMPLEDIR/build/newepuck

Repository Layout

• argos3/plugins/robots/: houses every robot plugin. See the local README that links to the full “Adding a New Robot” guide.
• argos3/plugins/robots/turtlebot4: full Turtlebot4 plugin
• argos3/plugins/robots/testbot: minimal plugin focused on the robot entity and Qt-OpenGL mesh
• argos3/plugins/robots/newepuck: an e-puck robot with additional sensors/ actuators.
• argos3/testing: controllers, loop functions, and ARGoS experiment files for exercising the plugins.
• build.sh: convenience script for rebuilding and optionally installing.

Run the Sample Experiment

The provided Turtlebot4 obstacle-avoidance experiment can be executed once the plugin is built (and either installed or discoverable via ARGOS_PLUGIN_PATH):

argos3 -c argos3/testing/experiments/turtlebot4_test.argos

Building Your Own Robot Plugin

See docs/ADDING_NEW_ROBOT.md for the detailed walkthrough that covers copying a template robot, wiring CMake, adding controllers/experiments, and validating the plugin inside ARGoS3. Follow docs/NEWEPUCK_TEMPLATE.md, which also shows how to add install rules so the plugin lands under your ARGoS prefix.

Possible Future Work

• Port these controllers to a physical Turtlebot4.
• Expand the documentation with additional robot templates as they become available.