Home

This wiki contains documentation about your RoNeX. If you can't find the information you are looking for, please let us know!

Table of Contents

• Setting up your computer
• Launching the RoNeX driver
• Overview of the system
• Working with the RoNeX
• RoNeX + MATLAB

## Setting up your computer The current RoNeX driver is based on [ROS](http://www.ros.org "ROS"). We recommend that you use a computer with Ubuntu LTS 12.04 ("Precise" or "Pangolin") installed on it. You will need less than 1GB of additional disk space for all of the ROS components. Follow the instructions here: ["Installing ROS Hydro"](http://wiki.ros.org/hydro/Installation/Ubuntu) to install ROS Hydro on Ubuntu - we recommend the "ros-hydro-desktop-full" package.

Installing the drivers for ROS Hydro

This is the easiest and recommended way to install the RoNeX drivers. To install the drivers and their dependencies, simply run:

 > sudo apt-get install ros-hydro-sr-ronex

Using ROS is made much easier by setting up the terminal window and its environment. If hydro is the only ROS version on the computer then you should do:

 > sudo echo "source /opt/ros/hydro/setup.bash" >> ~/.bashrc

Now each new terminal window will have the ROS Hydro environment setup automatically.

If you need to have multiple versions of ROS installed, then using this method would force everyone to use Hydro! If you don't want to do that, then in each new terminal window you should type:

 > source /opt/ros/hydro/setup.bash

Installing the drivers for ROS Groovy

Due to some changes to the pr2 code base that were integrated in ROS Hydro only, if you want to use RoNeX with ROS Groovy, you'll have to install it from sources. This is a more time consuming approach. If you need to go down this route, please follow these instructions.

## Launching the RoNeX driver To start the driver, you'll need elevated permissions. Run:

 > sudo -s
 > roslaunch sr_ronex_launch sr_ronex.launch

By default the driver is looking for the RoNeX on eth0. If you want to start it another interface, you can prefix the launch command with the correct ethercat port:

 > ETHERCAT_PORT=eth1 roslaunch sr_ronex_launch sr_ronex.launch

## Overview of the system ### Available parameters

Available topics

Published topics

Subscribed topics

## Working with the RoNeX

Please go to the Tutorials wiki page for examples on how to interact with the RoNeX.

## RoNex + Matlab

Please go to the RoNeX plus Matlab wiki page for examples on how to integrate Matlab with the RoNeX.