configuration and launch files for Neobotix MPO-500
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README.md

ROS configuration and launch files for Neobotix MPO-500

This package contains configuration and launch files for Neobotix MPO-500.

Neobotix MPO-500 Neobotix MMMO-500

The MPO-500 is an omnidirectional robot with Mecanum wheels for all kinds of service robotics and research

Contact information

For more information please visit our website at www.neobotix-robots.com. If you have any questions, just get in touch with us:

Installation

  1. Create a catkin workspace (tutorial)

  2. Download all packages listed under "Additionally required Neobotix-ROS-Packages" into your workspace

  3. IMPORTANT! Delete all not used packages downloaded in step 2!

  4. Install all packages listed under "Additionally required third party ROS-Packages"

  5. Build your workspace

Additionally required Neobotix-ROS-Packages:

Hardware connection: neo_relayboard_v2

Kinematic: neo_mecanum_kinematics

Laserscanner: cob_sick_s300

Scan-Merge: cob_scan_unifier

Teleoperation: neo_teleop

Msgs: neo_msgs

Srvs: neo_srvs

Additionally required third party ROS-Packages:

Joystick: joy

MoveBase: move_base and move_base_msgs

Teb Local Planner: teb_local_planner

Eband Local Planner: eband_local_planner

SLAM: gmapping

AMCL: amcl

Usage:

  1. Edit the configuration of each ROS-Node to meet your needs

  2. Use the bringup.launch file for basic startup

  3. Use the navigation.launch file for starting up MoveBase and SLAM or AMCL

  4. Create your own .launch file

ROSlaunch files:

Bringup: bringup.launch

Navigation with SLAM: navigation_basic_slam.launch

Navigation with AMCL: navigation_basic_amcl.launch

Configuration:

For each used ROS-Node there is a Folder in configs