How to Use

Usage

Building

• From the workspace root directory, execute:

  colcon build

• After the build completes, source the setup file to make the workspace packages accessible to ROS 2:

  source install/setup.bash

Running

Indy7 SDK uses launchfiles to streamline execution of ROS 2 nodes. Run them using the following commands:

• Physical Indy7:

  ros2 launch robot_driver robot_control.launch.py

• Simulated Indy7:

  ros2 launch robot_driver sim_control.launch.py

Directory Structure

• indy7-sdk/
  • external/
    • MPCGPU/ ---Core MPCGPU code
    • mujoco/ ---MuJoCo simulation
    • neuromeka-package/ ---Physical Indy7 communication
  • src/
    • indy7_msgs/ ---Custom ROS2 messages
    • mujoco_sim/ ---Simulation models and ROS2 node
    • robot_driver/ ---Robot controller and driver nodes
    • trajopt/ ---Trajectory optimization node (MPCGPU)
      • trajectories/ ---Reference end-effector trajectories