Official repository of the Pumas team for the RoboCup Soccer Humanoid League.

Installation | Usage | Website

Getting Started

Prerequisites

• Ubuntu 22.04 or later.
• ROS2 humble (ros-humble-desktop and ros-dev-tools required).
• jetson-utils (only Booster K1).
• nlohmann-json3-dev. Available to install through apt.
• Docker.
• A lot of patience.

ℹ️ to-do: add the remaining dependencies

Installation

First, clone this repository:

git clone --recurse-submodules https://github.com/LIRA-UNAM/Pumanoids.git
cd Pumanoids

Note

If you didn't clone the repository with the --recurse-submodules flag, you can initialize the submodules with the following commands:

git submodule init
git submodule update

Then, follow the instructions in the Installation Guide to set up the development environment and install the necessary dependencies.

Building

After cloning the repository and installing the dependencies, build the project at the root of the workspace:

cd colcon_ws/
colcon build

If the build was successful, source the workspace:

source install/setup.bash

Usage

After initializing the environment, run the following command to launch the main nodes:

ros2 launch surge_et_ambula state_machine.launch.py robot:=<robot_model>

where <robot_model> can be:

• k1
• t1

---

Note

For further instructions on how to run the code and use the different nodes, please refer to the Usage Guide.

License

Distributed under the MIT License. This allows for modification, distribution, and commercial use, provided the original copyright and license notice are included.

See LICENSE for details.

© 2025 - 2026 Laboratorio de Investigación en Robotica Avanzada