neobotix MPO 700

http://www.neobotix-robots.com/omnidirectional-robot-mpo-700.html

Sensors

  • - 2x 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 CAN Driver

Download the latest driver from this Page.

Extract the driver.

Build the driver:

    cd your_extracted_driver_files
    make NET=NO PCI=NO PCC=NO ISA=NO
    sudo make install

For further information take a look at the installation info from PeakSys.

Reboot your System.

Now your CAN devices should be listed in /dev/pcanXYZ (e.g. /dev/pcan0)

    sudo apt-get install ros-indigo-libpcan
    sudo apt-get install ros-indigo-libntcan

Install neobotix packages

Download required packages

Download the following packages from Git Hub:

neo_driver

neo_control

neo_navigation

neo_robot_descriptions

cob_driver

cob_common

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_mpo_700
cob_scan_unifier
neo_relayboard
neo_watchdogs
neo_msgs

neo_controll

joy
neo_bring_up
neo_teleop
neo_auto_recover

neo_robot_descriptions

mpo_700

cob_driver

cob_base_drive_chain
cob_canopen_motor
cob_driver
cob_generic_can
cob_undercarriage_ctrl
cob_utilities
cob_sick_s300

cob_common

cob_common
cob_msgs
cob_srvs

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=mpo_700

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_mpo_700/ros/launch/serrelay/mpo_700.yaml

configure sick_s300

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

   vim your_catkin_workspace/src/neo_driver/neo_base_mpo_700/ros/launch/sick/mpo_700_front.yaml
   vim your_catkin_workspace/src/neo_driver/neo_base_mpo_700/ros/launch/sick/mpo_700_back.yaml
   vim your_catkin_workspace/src/neo_driver/neo_base_mpo_700/ros/launch/sick/mpo_700_unifier.yaml

configure CAN

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

   vim your_catkin_workspace/src/neo_driver/neo_base_mpo_700/ros/launch/cob_can_and_kinematics/mpo_700_CanCtrl.yaml
   vim your_catkin_workspace/src/neo_driver/neo_base_mpo_700/ros/launch/cob_can_and_kinematics/mpo_700_Platform.yaml

configure auto_recover

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

   vim your_catkin_workspace/src/neo_driver/neo_base_mpo_700/ros/launch/auto_recover/mpo_700.yaml

configure navigation

2dnav costmaps:

   cd your_catkin_workspace/src/neo_navigation/neo_2dnav/ros/costmaps/mpo_700

2dnav_slam costmaps:

   cd your_catkin_workspace/src/neo_navigation/neo_2dnav_slam/ros/costmaps/mpo_700

Running

Robot Base

If everything was build correctly just type in:

   roslaunch neo_bringup mpo_700.launch

After everything started you have initialize the robot:

initialize using Joystick:

http://www.neobotix-roboter.de/fileadmin/files/produkte/Software/Gamepad_Logitech_F710_ROS.jpg

To initialize your robot with the joystick press the X button. The robot shuld start to move its steer motors. If nothing happen please check your configuration at:

   vim your_catkin_workspace/src/neo_driver/neo_base_mpo_700/ros/launch/auto_recover/mpo_700.yaml

Change the Value of ButtonANr from 0 to the number of the button you want to use to initialize your Robot.

Numbers of buttons may vary depending on the version of the joystick

initialize using rosservice

   rosservice call /init

The robot should start to move its steer motors.

To start the neo_navigation packages type in:

   roslaunch neo_2dnav 2dnav.launch

or

   roslaunch neo_2dnav_slam 2dnav_slam.launch

Wiki: Robots/neobotix/mpo_700 (last edited 2015-03-09 13:13:01 by Jan-NiklasNieland)