neo_mpo_500-2

../_images/MPO_500_docs.gif

Summary

The neo_mpo_500-2 package provides configuration and launch files for the MPO-500 mobile platform. It manages the kinematics and bundles all necessary ROS 2 files to run the Neobotix MPO-500 for both real-world applications and simulations, including support for real and mock arms and grippers.

Launch

To bring up the robot drivers and hardware components, execute the following command in a terminal:

ros2 launch neo_mpo_500-2 bringup.launch.py

Launch Arguments

To view a detailed description of all available launch arguments, run:

ros2 launch neo_mpo_500-2 bringup.launch.py --show-arguments

Arguments (pass arguments as '<name>:=<value>'):

'robot_namespace':
    Top-level namespace
    (default: '')

'imu_enable':
    Enable IMU - Options: True/False
    (default: 'False')

'scanner_type':
    Type of laser scanner to use. Valid choices are: ['', 'sick_s300', 'sick_microscan3']
    (default: 'sick_s300')

'arm_type':
    Arm Types
    . Valid choices are: ['', 'ur5', 'ur10', 'ur5e', 'ur10e', 'ec66', 'cs66']
    (default: '')

'gripper_type':
    Enables gripper and it's controllers. Valid choices are: ['', '2f_140', '2f_85', 'epick']
    (default: '')

'use_mock_arm':
    Mock arm and gripper (if available)
    (default: 'False')

'robot_ip':
    IP address of the robot.
    (default: '192.168.1.102')

'controllers_file':
    YAML file with the arm controllers configuration.

Nodes

The following table lists the nodes launched by the bringup.launch.py file, along with links to their detailed documentation.

Node Name See Package
relayboard_v2_node neo_relayboard_v2-2
neo_mecanum_node neo_kinematics_mecanum2
lidar_1 / lidar_2 neo_sick_s300-2
lidar_1_filter / lidar_2_filter neo_sick_s300-2
neo_teleop_node neo_teleop2

Note

For a list of services and topics, please refer to the documentation for the nodes mentioned above.