neo_mpo_700-2
=============

.. list-table::
   :widths: 50 50
   :header-rows: 0

   * - .. figure:: MPO_700_docs.gif
          :align: center
          :width: 100%


     - .. figure:: MMO_700_docs.gif
          :align: center
          :width: 100%


Summary
-------
The ``neo_mpo_700-2`` package provides configuration and launch files for the MPO-700 omnidirectional mobile platform. It manages the kinematics and bundles all necessary ROS 2 files to run the Neobotix MPO-700 for both real-world applications and simulations, including support for real and mock arms and grippers when configured as the MMO-700 mobile manipulator variant.

Launch
------

To bring up the robot drivers and hardware components, execute the following command in a terminal:

.. code-block:: bash

    ros2 launch neo_mpo_700-2 bringup.launch.py

Launch Arguments
****************

To view a detailed description of all available launch arguments, run:

.. code-block:: bash

    ros2 launch neo_mpo_700-2 bringup.launch.py --show-arguments

.. note::
    As of July 2023, namespacing support is partially available for MPO-700.

::

    Arguments (pass arguments as '<name>:=<value>'):

    'robot_namespace':
        Top-level namespace
        (default: '')

    'imu_enable':
        Enable IMU - Options: True/False
        (default: 'False')

    'd435_enable':
        Enable Realsense - Options: True/False
        (default: 'False')

    'scanner_type':
        Type of laser scanner to use. Valid choices are: ['', 'sick_s300', 'sick_microscan3']
        (default: 'sick_s300')

    'disable_scanners':
        Disable Scanner - Options: True/False
        (default: 'False')

    'use_docking_adapter':
        Enable docking adapter - Options: True/False
        (default: 'False')

    'arm_type':
        Arm Types
	. Valid choices are: ['', 'ur5', 'ur10', 'ur5e', 'ur10e', 'ec66', 'cs66']
        (default: '')

    'use_ur_dc':
        Set this argument to True if you have an UR arm with DC variant
        (default: 'False')

    'gripper_type':
        Enables gripper and it's controllers. Valid choices are: ['', '2f_140', '2f_85', 'epick']
        (default: '')

    'use_mock_arm':
        Mock arm and gripper (if available)
        (default: 'False')

    'initial_controller_arm':
        Initial controller for the arm
	. Valid choices are: ['', 'joint_trajectory_controller', 'scaled_joint_trajectory_controller']
        (default: 'scaled_joint_trajectory_controller')

    'robot_ip':
        IP address of the robot arm.
        (default: '192.168.1.102')

    'controllers_file':
        YAML file with the arm controllers configuration.
        (default: '/home/pradheep/jazzy_ws/install/neo_mpo_700-2/share/neo_mpo_700-2/configs/ur/ur_controllers.yaml')

Nodes
-----

The following table lists the nodes launched by the `bringup.launch.py` file, along with links to their detailed documentation.

.. list-table::
   :widths: 25 75
   :header-rows: 1

   * - Node Name
     - See Package
   * - ``relayboard_v2_node``
     - :ref:`neo-relayboard-v2`
   * - ``neo_omnidrive_node``
     - :ref:`neo-kinematics-omnidrive`
   * - ``neo_omnidrive_socketcan``
     - :ref:`neo-kinematics-omnidrive`
   * - ``lidar_1`` / ``lidar_2``
     - :ref:`neo-sick-s300`
   * - ``lidar_1_filter`` / ``lidar_2_filter``
     - :ref:`neo-sick-s300`
   * - ``neo_teleop_node``
     - :ref:`neo-teleop`

.. note::

    For a list of services and topics, please refer to the documentation for the nodes mentioned above.

RQT-Graph
---------

.. figure:: mpo_700_rosgraph.png
   :align: center

Related Documentation
---------------------

*   **Simulation:** For details on how to simulate the MPO-700, please refer to the :ref:`simulation-classic` and :ref:`simulation-modern` documentation.
*   **Navigation:** To learn about autonomous navigation, mapping, and localization with the MPO-700, see the :ref:`autonomous-navigation` guide.
*   **Visualization:** To visualize the robot model in RViz, you can run:

    .. code-block:: bash

        ros2 launch neo_mpo_700-2 rviz.launch.py

    More details can be found in the :ref:`start-with-ros-on-the-robot` section.