MSc Dissertation Project
ROS configuration and launch files for Neobotix MPO-700
This package contains configuration and launch files for Neobotix MPO-700.
Neobotix MPO-700Neobotix MMO-700
The omnidirectional MPO-700 is the ideal base for high-end service robots. Its four Omni-Drive-Modules enable it to move extremely smoothly into any direction. This robot is even capable of rotating freely while driving to its destination. The Omni-Drive-Modules of the MPO-700 feature important benefits compared to other omnidirectional drive kinematics, like for example the MPO-500's Mecanum wheels.
Fully omnidirectional manoeuvrability Very steady movements High stability and payload Compact, easily integrated drive units This makes the MPO-700 a premium alternative for applications that require omnidirectional movements without the limitations of traditional kinematics.
General information: http://www.neobotix-robots.com/company-contact.html
ROS related questions: ros@neobotix.de
------------Installation----------------------------
Create a catkin workspace (tutorial)
Download all packages
Install all packages listed under "Additionally required third party ROS-Packages"
Build your workspace
Additionally required Neobotix-ROS-Packages: Hardware connection: neo_relayboard_v2
Teleoperation: neo_teleop
Additionally required third party ROS-Packages: sudo apt install ros-melodic-teleop-twist-keyboard sudo apt install ros-melodic-navigation sudo apt install ros-melodic-amcl
How to Launch Basic Monte Carlo Position
Run "Roscore"
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Open the map with launch neo_track2 roslaunch neo_simulation neo_track2.launch
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Spawn the Robot roslaunch neo_simulation mpo_700_spawn.launch
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Load the Map rosrun map_server map_server Neobotix/src/neo_simulation/maps/neo_track2.yaml
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Run cob_scan_unifier <<< it can be done on the spawnfile roslaunch neo_simulation mpo_700_scan_unifier.launch
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Launch MonteCarlo simulation roslaunch neo_simulation mpo_700_amcl.launch
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Launch RVIZ roslaunch neo_simulation mpo_700_rviz.launch