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Introduction

Overview

ROS (Robot Operating System) is a software framework designed to enable the development of complex robotic systems. ROS1 has been successful in providing a robust, modular, and flexible architecture for building robotic applications. It supports multiple programming languages and platforms and is backed by a large and active community of developers and users.


ROS packed and produced by Neuromeka communicate with Indy Framework through IndyDCP3. The ROS packages under development have been tested with the ROS1 Noetic. For more information about the ROS1 Noetic version, see the ROS releases.

Install ROS and Neuromeka package

Install Neuromeka package

Neuromeka package is required and can be downloaded from the Neuromeka official Github repository, or intall using following command:

pip3 install neuromeka

Install ROS packages

This installation guide is based on Ubuntu 20.04. Follow this URL to install ROS1 Noetic version on your PC ROS Noetic Installation.

sudo apt install ros-noetic-ros-control \
    ros-noetic-ros-controllers \
    ros-noetic-industrial-robot-client \
    spacenavd \
    ros-noetic-ompl \
    ros-noetic-spacenav-node \
    ros-noetic-warehouse-ros-mongo \
    ros-noetic-moveit-ros \
    ros-noetic-moveit-servo \
    ros-noetic-moveit-planners \
    ros-noetic-moveit-simple-controller-manager

Setup enviroment

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc && source ~/.bashrc

Download and compile Indy packages

git clone --branch noetic-indyDCP3 https://github.com/neuromeka-robotics/indy-ros.git

cd ~/indy-ros/ && catkin_make

Load Indy workspace and set default

echo "source $HOME/indy-ros/devel/setup.bash" >> ~/.bashrc && source ~/.bashrc

Indy Package List

├── indy-ros
    ├── src
        ├── indy_description
        ├── indy_driver
        ├── indy_gazebo
        ├── indy_moveit
        └──  ...
  • indy_description: Includes Indy model (Indy7, Indy7v2, IndyRP2, IndyRP2v2, Indy12 and Indy12v2)
  • indy_driver: Create communication between ROS and Indy
  • indy_gazebo: Includes gazebo simulation for Indy.
  • indy_moveit: Moveit configuration for Indy

Configuration of ROS manual