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 moby Framework through [DCP3]

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

Moby ROS must be used by deactivating or removing the Navifra PC included in Moby's basic configuration and connecting a separate PC with a Linux environment.

Moby ROS and Navicore cannot be used simultaneously.

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-ira-laser-tools \
                  ros-noetic-teb-local-planner \
                  ros-noetic-sick-scan-xd \
                  ros-noetic-slam-toolbox \
                  ros-noetic-robot-localization \
                  ros-noetic-navigation \
                  ros-noetic-joint-state-controller \
                  ros-noetic-joint-state-publisher-gui \
                  ros-noetic-teleop-twist-joy \
                  ros-noetic-teleop-twist-keyboard \
                  ros-noetic-realsense2-camera \
                  ros-noetic-librealsense2 \
                  ros-noetic-realsense2-description \
                  ros-noetic-rtabmap-ros \
                  ros-noetic-octomap-ros \
                  ros-noetic-octomap-rviz-plugins \
                  ros-noetic-gazebo-ros \ 
                  ros-noetic-gazebo-ros-pkgs \
                  ros-noetic-gazebo-ros-control

Install libraries:

sudo apt install v4l-utils
sudo apt install libsdl-image1.2-dev
sudo apt install libsdl-dev
sudo apt install -y libgazebo11-dev

Setup enviroment

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

Download and compile moby packages

Create workspace and build the source code

git clone https://github.com/neuromeka-robotics/moby-ros.git
cd ~/moby-ros/
catkin_init_workspace src/
sudo chmod +x src/moby_bringup/src/*
sudo chmod +x src/moby_gazebo/src/*
catkin_make

Source setup file
```
source devel/setup.bash
```

Moby Package List

├── moby-ros
    ├── src
        ├── moby_bringup
        ├── moby_description
        ├── moby_gazebo
        ├── moby_mapping
        ├── moby_navigation
        └──  ...

moby_bringup: Create communication between ROS and moby
moby_description: Includes moby model (moby_rp and moby_rp_v3)
moby_gazebo: Includes gazebo simulation for moby.
moby_mapping: Mapping configuration for moby
moby_navigation: Navigation configuration for moby