1. Package overview

• mir_actions: Action definitions for the MiR robot
• mir_description: URDF description of the MiR robot
• mir_dwb_critics: Plugins for the dwb_local_planner used in Gazebo
• mir_driver: A reverse ROS bridge for the MiR robot
• mir_gazebo: Simulation specific launch and configuration files for the MiR robot
• mir_msgs: Message definitions for the MiR robot
• mir_navigation: move_base launch and configuration files

2. Installation

The instructions below use the ROS distro kinetic as an example.

Preliminaries

If you haven't already installed ROS on your PC, you need to add the ROS apt repository. This step is necessary for either binary or source install.

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
sudo apt-get update -qq

Binary install

For a binary install, it suffices to run this command:

sudo apt install ros-kinetic-mir-robot
sudo apt install ros-kinetic-navigation

See the tables at the end of this README for a list of ROS distros for which binary packages are available.

Source install

For a source install, run the commands below instead of the command from the "binary install" section.

cd ~/catkin_ws/src/

Clone mir_robot into the catkin workspace

git clone https://github.com/Jryl/MIR200_Sim_Demo.git

Install all dependencies

sudo apt-get update -qq
sudo apt-get install -qq -y python-rosdep
sudo rosdep init
rosdep update
rosdep install --from-paths ./ -i -y --rosdistro kinetic

Build all packages in the catkin workspace

source /opt/ros/kinetic/setup.bash
catkin_init_workspace
cd ~/catkin_ws
catkin_make -DCMAKE_BUILD_TYPE=RelWithDebugInfo

3. Start Gazebo demo (existing map)

roslaunch mir_navigation mir_start.launch

Now, you can use the "2D Nav Goal" tool in RViz to set a navigation goal for move_base.

4. Gazebo demo (mapping)

roslaunch mir_navigation mir_mapping.launch

5. Teleoperate the robot with keyboard (optional)

rosrun teleop_twist_keyboard teleop_twist_keyboard.py