Installation¶
An overview on the installation process of both the real and the simulated robot are discussed here.
Note
As a prerequiste, we suggest you to go through the tutorial on creating_a_ros_workspace and creating_a_ros_package.
Distributions¶
Packages for Robot¶
Tip
If you have a brand new robot from us, please skip this entire section and go to Packages for Client-PC
The ROS workspace in general contains all the necessary packages that is needed on your Robot PC. Create a ROS-Workspace from the robot’s PC terminal as follows:
mkdir ~/ros_workspace/src
From Neobotix¶
All the packages from Neobotix must be cloned from GitHub and must be built under a catkin_workspace.
Once the workspace is created, start cloning the packages under your_catkin_workspace/src
neo_mp(?)_(?)00¶
Please fill the (?) depending on your robot.
| Robots | mpo_700, mpo_500, mp_400, mp_500 |
Note
For mobile manipulator, just clone the corresponding mobile base _mp_ instead of _mm_
Below is an example with neo_mp_400
git clone https://github.com/neobotix/neo_mp_400
neo_kinematics_(?)¶
Please fill the (?) depending on your robot as shown below.
| Robots | Kinematics |
|---|---|
| MPO-700 | neo_kinematics_omnidrive |
| MPO-500 | neo_kinematics_mecanum |
| MP-400, MP-500 | neo_kinematics_differential |
Below is an example with neo_kinematics_omnidrive (for mpo_700)
git clone https://github.com/neobotix/neo_kinematics_omnidrive
neo_relayboard_v2¶
git clone https://github.com/neobotix/neo_relayboard_v2
neo_sick_s300¶
git clone https://github.com/neobotix/neo_sick_s300.git
neo_teleop¶
git clone https://github.com/neobotix/neo_teleop.git
neo_msgs¶
git clone https://github.com/neobotix/neo_msgs.git
neo_srvs¶
git clone https://github.com/neobotix/neo_srvs.git
neo_common¶
git clone https://github.com/neobotix/neo_common.git
Other dependencies¶
sudo apt install ros-noetic-joy ros-noetic-tf2-sensor-msgs ros-noetic-tf2-geometry-msgs
Please continue with the steps shown in Navigation Packages
Packages for Client-PC¶
Creating a ROS workspace¶
The ROS workspace contains the packages needed on your Client PC. See below on how to initialize it from a terminal:
mkdir ~/ros_workspace/src
Downloading the required Neobotix ROS-Packages
neo_mp(?)_(?)00¶
Please fill the (?) depending on your robot. Below is an example with neo_mp_400
| Robots | mpo_700, mpo_500, mp_400, mp_500 |
Note
For mobile manipulator, just clone the corresponding mobile base _mp_ instead of _mm_
git clone https://github.com/neobotix/neo_mp_400
neo_msgs¶
git clone https://github.com/neobotix/neo_msgs.git
neo_srvs¶
git clone https://github.com/neobotix/neo_srvs.git
Packages for Simulation¶
Create a ROS-Workspace from the terminal as follows:
mkdir ~/ros_workspace/src
Once the workspace is created, start cloning the packages under your_catkin_workspace/src
neo_simulation¶
git clone https://github.com/neobotix/neo_simulation.git
neo_kinematics_(?)¶
Please fill the (?) depending on your robot as shown below.
| Robots | Kinematics |
|---|---|
| MPO-700, MMO-700 | neo_kinematics_omnidrive |
| MPO-500 | neo_kinematics_mecanum |
| MP-400, MP-500, MM-400 | neo_kinematics_differential |
Below is an example with neo_kinematics_omnidrive (for mpo_700)
git clone https://github.com/neobotix/neo_kinematics_omnidrive
neo_msgs¶
git clone https://github.com/neobotix/neo_msgs.git
neo_srvs¶
git clone https://github.com/neobotix/neo_srvs.git
neo_common¶
git clone https://github.com/neobotix/neo_common.git
Control package¶
sudo apt-get install ros-noetic-ros-controllers
sudo apt-get install ros-noetic-gazebo-ros-control
sudo apt-get install ros-noetic-navigation
Teleoperation¶
sudo apt-get install ros-noetic-joy
sudo apt-get install ros-noetic-teleop-twist-keyboard
Please continue with the steps shown in Navigation Packages