ROS driver and configuration for MiR autonomous mobile robots, enabling simulation and control via the Robot Operating System.
mir_robot is a ROS (Robot Operating System) meta-package that provides a driver, simulation models, and navigation configurations for MiR (Mobile Industrial Robots) autonomous mobile robots. It enables researchers and developers to control, simulate, and integrate MiR robots using the standard ROS ecosystem, facilitating tasks like autonomous navigation, sensor integration, and multi-robot coordination. The project solves the problem of proprietary robot platforms lacking open-source, ROS-native interfaces.
Robotics researchers, integrators, and developers working with MiR robots who want to use ROS for advanced automation, simulation, or research projects. It is also suitable for educational institutions teaching autonomous mobile robotics with industrial-grade hardware.
Developers choose mir_robot because it is the primary open-source community project for ROS support on MiR robots, offering a complete suite of tested packages for both real robot operation and high-fidelity Gazebo simulation. It provides pre-configured navigation stacks and URDF models, significantly reducing integration time compared to building custom ROS drivers from scratch.
ROS support for the MiR Robots. This is a community project to use the MiR Robots with ROS. It is not affiliated with Mobile Industrial Robots.
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Provides a full suite including a reverse ROS bridge (mir_driver), URDF models, Gazebo simulation, and pre-configured navigation stacks, as detailed in the package overview.
Supports simulating multiple MiR robots in Gazebo with documented launch files and configurations, enabling research on coordination and fleet management.
Developed by DFKI as a community effort to bridge proprietary MiR platforms with ROS, promoting interoperability and advanced research beyond manufacturer limits.
Confirmed to work with MiR 100, 200, 250, 500 robots and specific software versions (e.g., 2.8.3.1, 2.13.4.1), reducing integration risks for common setups.
The MiR robot's internal clock drifts significantly, requiring manual fixes or complex chrony installations to avoid TF transform timeouts, as admitted in the troubleshooting section.
Setting up multiple robots in Gazebo requires hard-coding changes to launch files, as shown in the diff example, making it cumbersome for dynamic deployments.
Explicitly warns against MiR software version 3.0, indicating potential breaking changes and reliance on community updates for long-term support.
Requires full ROS installation and catkin workspace setup, with source install involving multiple steps, making it inaccessible for teams not already invested in the ROS ecosystem.