scitos2_mira

scitos2_mira

Overview

The scitos2_mira package serves as the primary interface between the MIRA framework and Metralabs robots. This package contains the main lifecycle node responsible for initiating and terminating the MIRA framework, loading the robot's configuration files, and providing a ROS 2 interface for the robot's modules.

Usage

1. Modify the default.yaml configuration file located in the params directory to specify the modules you wish to utilize with your robot.

2. Update the default.launch.py launch file in the launch directory. Change the scitos_config parameter to the path of your SCITOS robot's configuration.

3. Launch the scitos2_mira node using the following command:

ros2 launch scitos2_mira mira_launch.py

Setup udev rules

This rules are necessary to allow the SCITOS robot to be accessed by the MIRA framework. This rules should be installed during the MIRA software installation. Hoverer, if you need to install them manually, follow the instructions below.

cd scitos2/scitos2_mira
sudo cp rules/99-SCITOS.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && sudo udevadm trigger

Nodes

mira_framework

A lifecycle node that interfaces with the MIRA framework.

Parameters

• module_plugins (string array, default: "")

  Specifies the modules to be loaded.

• scitos_config (string, default: "")

  Specifies the path to the SCITOS robot configuration file in XML format. This parameter should point to your SCITOSDriver.xml robot config file, which should have been installed during the MIRA software installation. Typically, this file is located in the /opt/SCITOS/ directory.