NXT-ROS

A software stack containing tools to interface LEGO Mindstorms with ROS.

Maintainer:
David Butterworth
Last updated Jan 2016

Original authors:
Tully Foote, Wim Meeussen, and Melonee Wise
Willow Garage, 2010

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There are multiple versions of NXT-ROS:

• ROS Indigo
  catkin
  coming soon

• ROS Groovy
  rosbuild
  Dependencies: Python 2.x, NXT-Python 2.2.2
  Source: https://github.com/dbworth/NXT-ROS/tree/groovy/

• ROS Fuerte
  rosbuild
  Dependencies: Python 2.x, NXT-Python 2.2.2
  Source: https://github.com/dbworth/NXT-ROS/tree/fuerte/
  There is also an earlier version
  that uses NXT-Python v1.2.0:
  Source: https://github.com/dbworth/NXT-ROS/tree/ROS_Fuerte_NXT-Python-v1.2.0/

• ROS Electric
  rosbuild
  The original release, it is no longer maintained.
  Dependencies: Python 2.x, NXT-Python v1.1.2
  Source: http://stack-nxt.foote-ros-pkg.googlecode.com/hg (Mercurial)
  Source: http://stack-nxt-robots.foote-ros-pkg.googlecode.com/hg/ (Mercurial)
  Source: http://stack-nxt-apps.foote-ros-pkg.googlecode.com/hg/ (Mercurial)

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Screenshots:

nxt_rviz_plugin in ROS Groovy, displaying data from the ultrasonic and color sensors:

nxt_rviz_plugin in ROS Groovy, showing an obstacle costmap generated from the ultrasonic sensor data:

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