neo_mpo_700
===========

Summary
-------
The neo_mpo_700 package provides configuration and launch files for the MPO-700 mobile platform.

Nodes
-----

* relayboard_v2_node  (See: :ref:`neo-relayboard-v2`)
* neo_omnidrive_node  (See: :ref:`neo-kinematics-omnidrive`)
* neo_omnidrive_socketcan  (See: :ref:`neo-kinematics-omnidrive`)
* lidar_1  (See: :ref:`neo-sick-s300`)
* lidar_1_filter  (See: :ref:`neo-sick-s300`)
* lidar_2  (See: :ref:`neo-sick-s300`)
* lidar_2_filter  (See: :ref:`neo-sick-s300`)
* neo_teleop_node  (See: :ref:`neo-teleop`)

Services
--------

* /relayboard_v2/set_LCD_msg <message>
* /relayboard_v2/set_relay <id (0 to 3)> <true/false>
* /relayboard_v2/start_charging
* /relayboard_v2/stop_charging
* /relayboard_v2/set_digital_output <id (0 to 15)> <true/false>  (with IOBoard only)

RQT-Graph
---------

.. figure:: mpo_700_rosgraph.png