Customization for ROS-1
-----------------------

Neobotix robots can be easily customized. For example, if you decide to add a new sensor, then you just need to add or change a couple of configurations. This documentation will help you to get up and going with the self-made customization that you make.

Setup the launch
****************

Arm
===

For spawning the right configuration of the robot model in the RViz. For example, if you want to spawn the pre-configured mmo-500. In the file directory, navigate to ``~/your_workspace/src/your_robot/launch`` and open ``bringup.launch``. In the bottom, you can find: 

::

	<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find neo_mpo_500)/robot_model/mpo_500.urdf.xacro'" />

Change it to:

::

	<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find neo_mpo_500)/robot_model/mmo_500.urdf.xacro'" />

Similar approach can be employed for other mobile manipulators. 

Laser Scanner
=============

In case, if a decision has been made to change or add a laser scanner. It can be done easily. We have currently 2 sick-laser scanners pre-configured. The same can be used as an example to add other laser scanners of your choice. By defaut setup in most of our robot repositories, we have sick_s300 configured. In order to change it to sick_microscan, In the file directory, navigate to ``~/your_workspace/src/your_robot/configs/lidar`` and open ``lidar.launch``. 

Now comment out the the line for the ``sick_s300.launch`` and uncomment the line for the ``sick_microscan3.launch``.

.. _customizing_robot_model:

Customizing the robot model
***************************

LIDAR
=====

We provide options for you to choose between two laser scanners for our robots depending on the application and usage.

	1. SICK S300
	2. SICK Microscan

For simulation, you can select you required laser scanners by commenting/uncommenting out the desired part, based on the instructions given in the URDF file.

In the repository for our robot models, we can find the sick_laser urdf file for all the robots, you can modify the desired laser-scanner in that file.

An example to MP-400 is given below.

::

	<!-- SICK S3 sensor: Uncomment/Comment it out if required  -->
	<!-- <visual> -->
	<!-- 	<origin xyz="0 0 -0.12" rpy="-1.57 0 3.14" /> -->
	<!-- 		<geometry> -->
	<!--    		<mesh filename="package://neo_simulation/robots/mpo_500/meshes/SICK-S300.dae" scale="0.001 0.001 0.001" /> -->
	<!--		</geometry> -->
	<!--</visual> -->
	<!--<collision> -->
	<!--	<origin xyz="0 0 0" rpy="-1.57 0 3.14" /> -->
	<!--		<geometry> -->
	<!--   		    <mesh filename="package://neo_simulation/robots/mpo_500/meshes/SICK-S300.dae" scale="0.001 0.001 0.001" /> -->
	<!--  		</geometry>  -->
	<!--   </collision>  -->
	<!-- Microscan 3 sensor: Uncomment/Comment it out if required  -->
	<visual> 
		<origin xyz="-0.0 0 -0.06" rpy="1.57 0 0" />
     	<geometry>
      		<mesh filename="package://neo_simulation/robots/mpo_500/meshes/SICK-MICROSCAN3.dae" scale="0.001 0.001 0.001" />
      	</geometry>
	</visual>
	<collision>
 		<origin xyz="-0.0 0 -0.06" rpy="1.57 0 0" />
      	<geometry>
        	<mesh filename="package://neo_simulation/robots/mp_500/meshes/SICK-MICROSCAN3.dae" scale="0.001 0.001 0.001" />
        </geometry>
	</collision> -->

IMU
===
We also provide an option of IMU. Add, Remove or Adjust the position of IMU based on your requirements.
An example is given below.

::

	<!--+++++++++++++++++++ IMU ++++++++++++++++++++++++-->
 	<!-- Comment or uncomment based on your requirement -->
	  <xacro:include filename="$(find neo_simulation)/robot_model/mmo_700/urdf/xacros/imu.xacro" />
	  s<xacro:imu name="imu_1" parent="base_link">
	    <origin xyz="0.100 0 0.300" rpy="0 0 3.14" />
	  </xacro:imu>

There will be other sensors added and further developments will be updated.