Customization for ROS 2

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.

Inertial Measurement Unit (IMU)

The IMU that we recommend is the PhidgetSpatial Precision 3/3/3. If you had brought a new ROS 2 robot from us with this IMU, then there is no additional configuration required.

In case if you are migrating from ROS to ROS 2, with an PhidgetSpatial IMU on board, the we suggest to do the following steps:

Installation

Note

We only provide support to the recent distributions of ROS 2. While creation of the document, we were supporting only Humble.

Follow the installation given in the readme of the Phidgets driver GitHub package.

Configuring URDF

Go to the URDF of the robot, it can be usually found under the robot_model folder of your robot package. There you’ll find the necessary instruction to include the IMU as part of your robot’s URDF.