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

../_images/noetic.png

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