neobotix MP 400

http://www.neobotix-robots.com/mobile-robot-mp-400.html

Sensors

  • - Laserscanner Sick_S300

Installation

Install Ubuntu

The easiest way to get our ros packages installed is to use a longterm support ubuntu release (for example ubuntu 14.04).

Install ROS on Ubuntu

See this page to install ROS Indigo on ubuntu.

If you want to use the neo_navigation packages the ros navigation stack is also required!

Install neobotix packages

Download required packages

Download the following packages from Git Hub:

neo_driver

neo_control

neo_navigation

neo_robot_descriptions

cob_driver: you only need the cob_sick_s300 package to publish Laserscanner data.

Create a catkin workspace

    mkdir my_catkin_workspace
    cd my_catkin_workspace
    mkdir src
    cd src
    catkin_init_workspace

Copy required packages into src folder

Your src folder should contain the following packages:

Folder:

Packages:

neo_driver

neo_base_mp_400
neo_platformctrl_diff
neo_relayboard
neo_watchdogs
neo_msgs

neo_controll

joy
neo_bring_up
neo_teleop

neo_robot_descriptions

mp_400

cob_driver

cob_sick_s300

Only if you want to use the navigation packages:

Folder:

Packages:

neo_navigation

neo_2dnav
neo_2dnav_slam
neo_2dnav_tools
neo_maps

Delete all packages you don't need, to prevent errors.

Compile all packages with catkin

    cd my_catkin_workspace

If you are using the neo_navigation packages make sure the ros navigation stack is installed!

To compile everything type in:

    catkin_make --pkg neo_msgs
    catkin_make

Configuration

environment variables

tell ROS which robot you are using:

   export ROBOT=mp_400

tell ROS which Map you want to use: (Only the name of your map, which is stored in neo_maps/maps)

   export MAP_NAME=your_map_name  

advanced configuration

In some special cases (e.g. using additional hardware) you maybe want to check the configfiles (.yaml)

configure communication with neo_relayboard

open the configfile in your prefered texteditor (e.g. vim)

   vim your_catkin_workspace/src/neo_driver/neo_base_mp_400/ros/launch/serrelay/mp_400.yaml

configure sick_s300

open the configfile in your prefered texteditor (e.g. vim)

   vim your_catkin_workspace/src/neo_driver/neo_base_mp_400/ros/launch/sick/mp_400.yaml

configure teleoperation

open the configfile in your prefered texteditor (e.g. vim)

   vim your_catkin_workspace/src/neo_controll/neo_teleop/ros/launch/mp_400.yaml

configure navigation

2dnav costmaps:

   cd your_catkin_workspace/src/neo_navigation/neo_2dnav/ros/costmaps/mp_400

2dnav_slam costmaps:

   cd your_catkin_workspace/src/neo_navigation/neo_2dnav_slam/ros/costmaps/mp_400

Running

If everything was build correctly just type in:

   roslaunch neo_bringup mp_400.launch 

To start the neo_navigation packages type in:

   roslaunch neo_2dnav 2dnav.launch

or

   roslaunch neo_2dnav_slam 2dnav_slam.launch

Wiki: Robots/neobotix/mp_400 (last edited 2014-09-22 11:16:32 by Jan-NiklasNieland)