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nxt: nxt_controllers | nxt_description | nxt_lxf2urdf | nxt_msgs | nxt_python | nxt_ros | nxt_rviz_plugin

Package Summary

Documented

This stack has basic interfaces for interacting with ROS and NXT. The software in this stack is intended to run on top of the default NXT firmware provided by lego.

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What is NXT-ROS?

The NXT-ROS software stack provides many useful tools to interface NXT robots with ROS. Currently NXT users can take robot models created with Lego Digital Designer, and automatically convert them into robot models compatible with ROS. The converted robot model can be visualized in rviz, and in the future we hope to add simulation capabilities in gazebo, our 3D simulator. The bridge between NXT and ROS creates a ROS topic for each motor and sensor of the NXT robot.

Once a robot is connected to ROS, you can start running applications such as the base controller, wheel odometry, keyboard/joystick teleoperation, and even assisted teleoperation using the ROS navigation stack. The NXT-ROS software stack includes a number of example robot models for users to play with and to get a feel for using NXT with ROS.

Installation

To install NXT-ROS on your computer, follow the instructions on the installation page.

Note: nxt_ros expects the default Lego firmware (v1.28 or above) to be running on the NXT brick.

Getting Started

To get started with NXT-ROS, take a look at the tutorials.

You can also check out our starter NXT robots.

Report a Bug

If you find a bug in the NXT-ROS bindings, you can submit a bug here

Other Resources

NXT on Groovy for Raspberry Pi

Since the Raspbery Pi development is only on Groovy, and the Raspberry Pi is perfect for a Lego Robot, I did minimum changes in the nxt Stacks:

https://github.com/maxsieber

This Package needs the rosbuild System. Configure your Computer and after Install:

  • cd
    mkdir rosbuild_ws
    cd rosbuild_ws/
    rosws init . /opt/ros/groovy/
    source setup.bash
    echo "export ROS_PACKAGE_PATH=~/rosbuild_ws/:$ROS_PACKAGE_PATH" >> ~/.bashrc
    source ~/.bashrc
    git clone https://github.com/maxsieber/nxt.git && git clone https://github.com/maxsieber/nxt_apps.git && git clone https://github.com/maxsieber/nxt_robots.git
    rosmake -aivr #assisted_teleop and nxt_rviz_plugin will fail.
    roslaunch nxt_robot_sensor_car robot.launch

This should also work with hydro.

For further Information refer to sig/NXT

If you have trouble, feel free to write me. <max-sieber@gmx.de>

Wiki: nxt (last edited 2014-06-25 12:26:44 by MaximilianSieber)