MPO-700 Basic Bringup

• Contents

  1. MPO-700 Basic Bringup
     1. Launch File
     2. Graph
     3. Nodes
     4. Interaction and Usage
        1. Motion Control
        2. Odometry
        3. Laser Scanners
           1. Sick S300 Expert
           2. Sick Microscan3
        4. Relayboard
           1. Published Data
           2. Services

Launch File

Start the robot by launching the bringup file:

roslaunch neo_mpo_700 bringup.launch

Graph

Coming Soon

Nodes

Coming Soon

Interaction and Usage

Motion Control

MPO-500 can be controlled by:

1. Publishing data to topic /cmd_vel

2. Control with hardware joystick

Odometry

The odometry from wheelencoders is published by cob_undercarraige_ctrl_node to /odom as nav_msgs/Odometry.

Laser Scanners

Laser Scanners can be attached to the mobile robot on the front, back, front left and back right.

The usual setup includes two laser scanner.

There are two different models of laser scanner available.

Sick S300 Expert

1. Front or front left Laser Scanner (sick_s300_1)

2. Back or back right Laser Scanner (sick_s300_2)

Sick Microscan3

1. Front or front left Laser Scanner (sick_micros3_1)

2. Back or back right Laser Scanner (sick_micros3_2)

Relayboard

Neobotix Relayboard is the main interface to most internal hardware components.

Connected hardware components:

• LCD
• IOBoard (only if available)
• USBoard (only if available)

Published Data

1. Hardware state

See RelayBoardV2.msg.

2. Battery information

See BatteryState.msg.

3. Emergency information

See EmergencyStopState.msg.

4. IOBoard Data (only if available)

See IOBoard.msg.

5. USBoard Data (only if available)

See USBoard.msg and sensor_msgs/Range.msg.

Services

1. Start automatic charging

rosservice call /relayboard_v2/start_charging

2. Stop automatic charging

rosservice call /relayboard_v2/stop_charging

3. Write text to LCD (maximum 20 characters)

rosservice call /relayboard_v2/set_LCD_msg

4. Toggle relay

rosservice call /relayboard_v2/set_relay