NXT ROS - Core

Software stack containing all the required pieces to use Lego Mindstorms NXT with ROS

Installation

ROS package

The repository is expected to be used as the source folder of a working catkin environnement.

mkdir nxt
cd nxt
git clone --recursive https://github.com/NXT-ROS/nxt.git src
catkin init
catkin build

You now have all the required packages to run the ros-nxt core.

NXT USB

In order to communicate with the NXT, you will need to set the correct permissions.

sudo groupadd lego
sudo usermod -a -G lego $(id -un)
echo "SUBSYSTEM=="usb", ATTRS{idVendor}=="0694", GROUP="lego", MODE="0660"" > /tmp/70-lego.rules && sudo mv /tmp/70-lego.rules /etc/udev/rules.d/70-lego.rules

You can now reboot your system and hook up your NXT.

Dependencies

The nxt-ros packages depends on:

• ROS Kinetic
• Python 3
• NXT Python v3 (shipped as submodule)

Using NXT ROS

As for any catkin package, you first need to add its folders to your environnement (make sure to select the correct file for your system).

cd nxt
source devel/setup.(bash|sh|zsh)

You can then start ros core and use any componnents of the nxt stack:

roscore