Neobotix MPO 500

http://www.neobotix-robots.com/mecanum-robot-mpo-500.html

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

To install ROS Indigo on ubuntu please refer this page.

Install neobotix packages

{i} Before installing the neobotix packages we believe that you are familar with the concepts of ROS and catkin, if not please refer the ROS and catkin tutorials.

The first step here is to clone/download all the required packages from neobotix GitHub page.

The following are the list of repositories and information on the packages to be downloaded on each repositories:

Repositories

Required Packages

neo_mpo_500

All-inclusive

neo_kinematics_mecanum

All-inclusive

neo_msgs

Al-inclusive

neo_srvs

All-inclusive

neo_relayboard_v2

All-inclusive

neo_control

joy, neo_teleop

cob_driver

cob_sick_s300

Copy required packages into /src folder. Delete packages you don't need, to prevent errors.

Compile all packages with catkin

Once all packages are cloned to the source folder and the unwanted packages are deleted:

   $ cd my_catkin_workspace

To compile everything type in:

   $ catkin_make

Configuration

Environment variables

Add the following lines to let know ROS the robot and map being used, so in .bashrc file:

   export ROBOT=mpo_500

   export MAP_NAME=your_map_name

Advanced configuration

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

Open the configuration files in your preferred text editor (e.g. vim).

Configure communication with neo_relayboard

   vim your_catkin_workspace/src/neo_mpo_500/configs/relayboard_v2/neo_relayboard_v2.yaml

Configure sick_s300

   vim your_catkin_workspace/src/neo_mpo_500/configs/sick/mpo_500_front.yaml
   vim your_catkin_workspace/src/neo_mpo_500/configs/sick/mpo_500_back.yaml
   vim your_catkin_workspace/src/neo_mpo_500/configs/scan_unifier/mpo_500_unifier.yaml

Configure tele-operation

   vim your_catkin_workspace/src/neo_mpo_500/configs/teleop/mpo_500_teleop.yaml

Configure navigation

   vim cd your_catkin_workspace/src/neo_mpo_500/configs/navigation/movebase/costmaps/mpo_500_costmap_common.yaml
   vim cd your_catkin_workspace/src/neo_mpo_500/configs/navigation/movebase/costmaps/mpo_500_costmap_global.yaml
   vim cd your_catkin_workspace/src/neo_mpo_500/configs/navigation/movebase/costmaps/mpo_500_costmap_local.yaml

Launch files

If everything was build correctly just type in:

   roslaunch neo_mpo_500 mpo_500_bringup.launch

To start the neo_navigation packages type in:

For Gmapping:

   roslaunch neo_mpo_500 mpo_500_gmapping.launch

For Move base:

   roslaunch neo_mpo_500 mpo_500_nav.launch

Wiki: Robots/neobotix/mpo_500 (last edited 2017-11-17 10:26:40 by Harsha Nagaraja)