Neobotix MMO-700 ROS 2 Workspace

Cloning

You need a GitHub SSH key as some submodules are declared as SSH urls.

Use git clone --recursive.

If you somehow skipped over the previous line but came back here, you can run git submodule update --init --recursive.

Building

Run make from the workspace root.

Robot-Specific First-Time Setup

Builds on the robot depend on neo-relayboard.service being installed to /etc/systemd/system/. This service launches the RelayBoard at boot so that battery information is available even if the robot drivers are not running. Run the following on the robot from the workspace root. Do not run this on workstations.

sudo ln -sfn \
  "$(realpath src/neo_mpo_700-2/configs/relayboard_v2/neo-relayboard.service)" \
  /etc/systemd/system/neo-relayboard.service

Then, rerun make from the workspace root. After that, run

sudo systemctl daemon-reload
sudo systemctl enable --now neo-relayboard.service

The service will run automatically on subsequent boots. You can check the status formally by running

systemctl status neo-relayboard.service
journalctl -u neo-relayboard.service -f

or informally by running

ros2 topic echo --once /battery_state

The service transitively depends on a dotfile config $HOME/dotfiles/ros2env.sh which sets the ROS_DOMAIN_ID.