Overview

Indy7 SDK is a ROS 2 package for Neuromeka's Indy7 robot manipulator. The package contains all necessary resources to test and deploy model predictive control algorithms on Indy7.

Usage

• Getting Started
• How to Use

System Architecture

Indy7 SDK consists of three primary components

1. MPCGPU
2. Robot Driver Node
3. Robot Interface

The robot driver node buffers communication between MPCGPU and the robot interface, allowing each to run at different frequencies while ensuring the correct data is being passed at every time step.

Figure 8 trajectory tracking with MPCGPU