mir_driver

This repo contains a ROS driver and ROS configuration files (URDF description, Gazebo launch files, move_base config, bringup launch files, message and action descriptions) for the MiR robots. This is a community project created by us (DFKI, the German Research Center for Artificial Intelligence) to use the MiR Robots with ROS. We are not affiliated with Mobile Industrial Robots. If you find a bug or missing feature in this software, please report it on the issue tracker.

Supported MiR robots and software versions

This repo has been confirmed to work with the following robots:

• MiR 100
• MiR 200
• MiR 500

It probably also works with the MiR250 and MiR1000. If you can test it on one of those, please let us know if it works.

The only supported software version is MiR software 2.8.3.1. You can try if it works with other versions, but this is the one that is known to work.

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

Installation

You can chose between binary and source install below. If you don’t want to modify the source, the binary install is preferred (if mir_robot binary packages are available for your ROS distro). The instructions below use the ROS distro noetic as an example; if you use a different distro (e.g. melodic), replace all occurrences of the string noetic by your distro name in the instructions.

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-noetic-mir-robot

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.

# create a catkin workspace
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src/

# clone mir_robot into the catkin workspace
git clone -b noetic https://github.com/dfki-ric/mir_robot.git

# use rosdep to install all dependencies (including ROS itself)
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 noetic

# build all packages in the catkin workspace
source /opt/ros/noetic/setup.bash
catkin_init_workspace
cd ~/catkin_ws
catkin_make -DCMAKE_BUILD_TYPE=RelWithDebugInfo

In case you encounter problems, please compare the commands above to the build

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