MORPH : Modular Open Robotics Platform for Hackers
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morph_bringup @ 3b5e9f7
morph_description @ d73934a
morph_design @ ccaeaa0
morph_hw @ b24bb48
morph_navigation @ 5e86bed
morph_teleop @ 890da10
serial @ 827c4a7
vesc @ c4739e3

MORPH : Modular Open Robotics Platform for Hackers

An affordable modular platform for open robotics development for hackers. Provides a jump start to build your own robot. For further documentation see


This is the main repository for the morph stack. All packages for the morph stack have their own repository but are linked as submodules from this main repository.


ROS distribution

The morph stack has been tested with the ROS Indigo and Kinetic distributions. For instructions on installing ROS see the ROS wiki.

ROS package dependencies

The morph stack uses the Turtlebot stack and ros_control. Follow installation instructions for the Turtlebot stack. Other dependencies are linked as submodule from the morph repository.

sudo apt-get install ros-indigo-ros-control ros-indigo-ros-controllers

Create a catkin_workspace

mkdir -p ~/morph_ws/src
cd ~/morph_ws

Checkout and initialize and update submodules

cd ~/morph_ws/src
git clone
cd morph
git submodule init
git submodule update

Compile code

cd ~/morph_ws

If your environment is setup correctly, you shouldn't have any compilation errors. If so you are probably missing dependencies.