rox_bringup

Summary

As the name suggests, rox_bringup contains all the necessary configurations and launch files required to initialize and activate all the hardware components associated with the Neobotix ROX platforms. Furthermore, this package also manages the kinematics related to the ROX platform, enabling users to get the ROX platform up and running.

Location: https://github.com/neobotix/rox/tree/rolling/rox_bringup

Configurations

The configurations for kinematics, relayboard_v3, sensors and teleoperation can be found under the configs folder.

Files for each of the configurations are named with a the rox_type at the front. For example, the config file for kinematics of the rox-argo, will be named as argo_kinematics. Similarly the other configs are named.

Launch

The bringup_launch.py under the launch folder, brings up all the necessary components for the robot to initialize and activate.

Tip

Please run the same command as shown below to check for the updation of launch arguments

ros2 launch rox_bringup bringup_launch.py --show-arguments
Arguments (pass arguments as '<name>:=<value>'):

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

'rox_type':
    Robot type - Options: argo/diff/trike/meca
    (default: 'argo')

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

'arm_type':
    Arm used in the robot - currently only support universal
    (default: '')

'scanner_type':
    Scanner options available: nanoscan/psenscan
    (default: 'nanoscan')

'use_ur_dc':
    Enable if the setup has the DC varant of UR arm
    (default: 'False')

Example launch:

ros2 launch rox_bringup bringup_launch.py rox_type:=argo