mir100_bridge

Package Summary

Version	0.0.1
License	Apache-2.0
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/jderobot/roboticsinfrastructure.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-10-10
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS2 node that bridges a MiR100 real (or mocked) robot to the topics the MiR100 exercise's HAL expects. It talks straight to the robot over the rosbridge websocket protocol, or to a mir_driver running outside the docker, so no ROS1 install is needed inside this container.

Maintainers

aquintan

Authors

No additional authors.

mir100_bridge

ROS2 node that republishes a MiR100 (real or mocked, see CustomRobots/mir100/mir100_mock) as the same topics the simulated MiR100 uses, so the HAL does not see any difference between sim and real robot.

It never installs ROS1. It connects as a plain rosbridge websocket client, so the whole node is pure ROS2/rclpy and runs inside the RoboticsAcademy docker like any other exercise node.

Launched through CustomRobots/mir100/launch/mir100_physical.launch.py, the launch file used for scenes of type physical.

Modes

robot (default): talks straight to the MiR100, which already exposes rosbridge on port 9090. Nothing to launch besides the exercise, the robot only has to be reachable on the network. Its address defaults to 192.168.12.20, the one it has on its own wifi.
driver: talks to a mir_driver running outside the docker, with its own rosbridge_server on port 9091. For setups that already have their own driver.

Topics

MiR100 or mir_driver	ROS2 (this node)
`/cmd_vel`	`/mir100/cmd_vel`
`/odom`	`/mir100/odom`
`/f_scan`	`/mir100/front_laser/scan`
`/b_scan`	`/mir100/back_laser/scan`
`/imu_data`	`/mir100/imu`

In robot mode the twist is sent with a header, as the MiR software 2.7 and newer expects, mir_driver does that itself in driver mode.

Parameters

mode, robot or driver, defaults to robot.
ros1_hostname, where to connect. In robot mode it defaults to the MIR100_ROBOT_IP environment variable, then 192.168.12.20. In driver mode it is the machine running mir_driver, resolved when empty from the MIR100_ROS1_HOST environment variable, then host.docker.internal, then the container’s default gateway (the docker host on Linux), and finally localhost.
ros1_port, defaults to 9090 in robot mode and 9091 in driver mode.
namespace, defaults to mir100.

Dependency

Needs roslibpy, a plain Python websocket client, not a ROS package. RADI installs it in scripts/RADI/Dockerfile.dependencies_humble. Outside RADI use pip install roslibpy.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	rclpy
	geometry_msgs
	nav_msgs
	sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mir100_bridge` at Robotics Stack Exchange

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.

mir100_bridge package from roboticsinfrastructure repo

custom_robots conveyor_belt_plugin drone_gripper gz_link_attacher gz_mimic_joint gz_noisy_odometry hangar_obstacles linkattacher_msgs mir100_bridge mmo500_moveit_config pcl_filter pcl_filter_msgs robotiq_description ros2_robotiqgripper ros2srrc_ur3_gazebo ros2srrc_ur3_moveit2 ros2srrc_ur5_gazebo ros2srrc_ur5_moveit2 ros2srrc_data ros2srrc_endeffectors ros2srrc_execution ros2srrc_robots ur3_gripper_moveit_config ur5_gripper_moveit_config vacuum_dirt xlerobot_moveit_config common_interfaces_cpp prius_description jderobot_drones jderobot_drones_cpp

ROS Distro
github

Package Summary

Version	0.0.1
License	Apache-2.0
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/jderobot/roboticsinfrastructure.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-10-10
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS2 node that bridges a MiR100 real (or mocked) robot to the topics the MiR100 exercise's HAL expects. It talks straight to the robot over the rosbridge websocket protocol, or to a mir_driver running outside the docker, so no ROS1 install is needed inside this container.

Maintainers

aquintan

Authors

No additional authors.

mir100_bridge

ROS2 node that republishes a MiR100 (real or mocked, see CustomRobots/mir100/mir100_mock) as the same topics the simulated MiR100 uses, so the HAL does not see any difference between sim and real robot.

It never installs ROS1. It connects as a plain rosbridge websocket client, so the whole node is pure ROS2/rclpy and runs inside the RoboticsAcademy docker like any other exercise node.

Launched through CustomRobots/mir100/launch/mir100_physical.launch.py, the launch file used for scenes of type physical.

Modes

robot (default): talks straight to the MiR100, which already exposes rosbridge on port 9090. Nothing to launch besides the exercise, the robot only has to be reachable on the network. Its address defaults to 192.168.12.20, the one it has on its own wifi.
driver: talks to a mir_driver running outside the docker, with its own rosbridge_server on port 9091. For setups that already have their own driver.

Topics

MiR100 or mir_driver	ROS2 (this node)
`/cmd_vel`	`/mir100/cmd_vel`
`/odom`	`/mir100/odom`
`/f_scan`	`/mir100/front_laser/scan`
`/b_scan`	`/mir100/back_laser/scan`
`/imu_data`	`/mir100/imu`

In robot mode the twist is sent with a header, as the MiR software 2.7 and newer expects, mir_driver does that itself in driver mode.

Parameters

mode, robot or driver, defaults to robot.
ros1_hostname, where to connect. In robot mode it defaults to the MIR100_ROBOT_IP environment variable, then 192.168.12.20. In driver mode it is the machine running mir_driver, resolved when empty from the MIR100_ROS1_HOST environment variable, then host.docker.internal, then the container’s default gateway (the docker host on Linux), and finally localhost.
ros1_port, defaults to 9090 in robot mode and 9091 in driver mode.
namespace, defaults to mir100.

Dependency

Needs roslibpy, a plain Python websocket client, not a ROS package. RADI installs it in scripts/RADI/Dockerfile.dependencies_humble. Outside RADI use pip install roslibpy.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	rclpy
	geometry_msgs
	nav_msgs
	sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mir100_bridge` at Robotics Stack Exchange

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.

mir100_bridge package from roboticsinfrastructure repo

custom_robots conveyor_belt_plugin drone_gripper gz_link_attacher gz_mimic_joint gz_noisy_odometry hangar_obstacles linkattacher_msgs mir100_bridge mmo500_moveit_config pcl_filter pcl_filter_msgs robotiq_description ros2_robotiqgripper ros2srrc_ur3_gazebo ros2srrc_ur3_moveit2 ros2srrc_ur5_gazebo ros2srrc_ur5_moveit2 ros2srrc_data ros2srrc_endeffectors ros2srrc_execution ros2srrc_robots ur3_gripper_moveit_config ur5_gripper_moveit_config vacuum_dirt xlerobot_moveit_config common_interfaces_cpp prius_description jderobot_drones jderobot_drones_cpp

ROS Distro
github

Package Summary

Version	0.0.1
License	Apache-2.0
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/jderobot/roboticsinfrastructure.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-10-10
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS2 node that bridges a MiR100 real (or mocked) robot to the topics the MiR100 exercise's HAL expects. It talks straight to the robot over the rosbridge websocket protocol, or to a mir_driver running outside the docker, so no ROS1 install is needed inside this container.

Maintainers

aquintan

Authors

No additional authors.

mir100_bridge

ROS2 node that republishes a MiR100 (real or mocked, see CustomRobots/mir100/mir100_mock) as the same topics the simulated MiR100 uses, so the HAL does not see any difference between sim and real robot.

It never installs ROS1. It connects as a plain rosbridge websocket client, so the whole node is pure ROS2/rclpy and runs inside the RoboticsAcademy docker like any other exercise node.

Launched through CustomRobots/mir100/launch/mir100_physical.launch.py, the launch file used for scenes of type physical.

Modes

robot (default): talks straight to the MiR100, which already exposes rosbridge on port 9090. Nothing to launch besides the exercise, the robot only has to be reachable on the network. Its address defaults to 192.168.12.20, the one it has on its own wifi.
driver: talks to a mir_driver running outside the docker, with its own rosbridge_server on port 9091. For setups that already have their own driver.

Topics

MiR100 or mir_driver	ROS2 (this node)
`/cmd_vel`	`/mir100/cmd_vel`
`/odom`	`/mir100/odom`
`/f_scan`	`/mir100/front_laser/scan`
`/b_scan`	`/mir100/back_laser/scan`
`/imu_data`	`/mir100/imu`

In robot mode the twist is sent with a header, as the MiR software 2.7 and newer expects, mir_driver does that itself in driver mode.

Parameters

mode, robot or driver, defaults to robot.
ros1_hostname, where to connect. In robot mode it defaults to the MIR100_ROBOT_IP environment variable, then 192.168.12.20. In driver mode it is the machine running mir_driver, resolved when empty from the MIR100_ROS1_HOST environment variable, then host.docker.internal, then the container’s default gateway (the docker host on Linux), and finally localhost.
ros1_port, defaults to 9090 in robot mode and 9091 in driver mode.
namespace, defaults to mir100.

Dependency

Needs roslibpy, a plain Python websocket client, not a ROS package. RADI installs it in scripts/RADI/Dockerfile.dependencies_humble. Outside RADI use pip install roslibpy.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	rclpy
	geometry_msgs
	nav_msgs
	sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mir100_bridge` at Robotics Stack Exchange

No version for distro lyrical showing github. Known supported distros are highlighted in the buttons above.

mir100_bridge package from roboticsinfrastructure repo

custom_robots conveyor_belt_plugin drone_gripper gz_link_attacher gz_mimic_joint gz_noisy_odometry hangar_obstacles linkattacher_msgs mir100_bridge mmo500_moveit_config pcl_filter pcl_filter_msgs robotiq_description ros2_robotiqgripper ros2srrc_ur3_gazebo ros2srrc_ur3_moveit2 ros2srrc_ur5_gazebo ros2srrc_ur5_moveit2 ros2srrc_data ros2srrc_endeffectors ros2srrc_execution ros2srrc_robots ur3_gripper_moveit_config ur5_gripper_moveit_config vacuum_dirt xlerobot_moveit_config common_interfaces_cpp prius_description jderobot_drones jderobot_drones_cpp

ROS Distro
github

Package Summary

Version	0.0.1
License	Apache-2.0
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/jderobot/roboticsinfrastructure.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-10-10
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS2 node that bridges a MiR100 real (or mocked) robot to the topics the MiR100 exercise's HAL expects. It talks straight to the robot over the rosbridge websocket protocol, or to a mir_driver running outside the docker, so no ROS1 install is needed inside this container.

Maintainers

aquintan

Authors

No additional authors.

mir100_bridge

ROS2 node that republishes a MiR100 (real or mocked, see CustomRobots/mir100/mir100_mock) as the same topics the simulated MiR100 uses, so the HAL does not see any difference between sim and real robot.

It never installs ROS1. It connects as a plain rosbridge websocket client, so the whole node is pure ROS2/rclpy and runs inside the RoboticsAcademy docker like any other exercise node.

Launched through CustomRobots/mir100/launch/mir100_physical.launch.py, the launch file used for scenes of type physical.

Modes

robot (default): talks straight to the MiR100, which already exposes rosbridge on port 9090. Nothing to launch besides the exercise, the robot only has to be reachable on the network. Its address defaults to 192.168.12.20, the one it has on its own wifi.
driver: talks to a mir_driver running outside the docker, with its own rosbridge_server on port 9091. For setups that already have their own driver.

Topics

MiR100 or mir_driver	ROS2 (this node)
`/cmd_vel`	`/mir100/cmd_vel`
`/odom`	`/mir100/odom`
`/f_scan`	`/mir100/front_laser/scan`
`/b_scan`	`/mir100/back_laser/scan`
`/imu_data`	`/mir100/imu`

In robot mode the twist is sent with a header, as the MiR software 2.7 and newer expects, mir_driver does that itself in driver mode.

Parameters

mode, robot or driver, defaults to robot.
ros1_hostname, where to connect. In robot mode it defaults to the MIR100_ROBOT_IP environment variable, then 192.168.12.20. In driver mode it is the machine running mir_driver, resolved when empty from the MIR100_ROS1_HOST environment variable, then host.docker.internal, then the container’s default gateway (the docker host on Linux), and finally localhost.
ros1_port, defaults to 9090 in robot mode and 9091 in driver mode.
namespace, defaults to mir100.

Dependency

Needs roslibpy, a plain Python websocket client, not a ROS package. RADI installs it in scripts/RADI/Dockerfile.dependencies_humble. Outside RADI use pip install roslibpy.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	rclpy
	geometry_msgs
	nav_msgs
	sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mir100_bridge` at Robotics Stack Exchange

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.

mir100_bridge package from roboticsinfrastructure repo

custom_robots conveyor_belt_plugin drone_gripper gz_link_attacher gz_mimic_joint gz_noisy_odometry hangar_obstacles linkattacher_msgs mir100_bridge mmo500_moveit_config pcl_filter pcl_filter_msgs robotiq_description ros2_robotiqgripper ros2srrc_ur3_gazebo ros2srrc_ur3_moveit2 ros2srrc_ur5_gazebo ros2srrc_ur5_moveit2 ros2srrc_data ros2srrc_endeffectors ros2srrc_execution ros2srrc_robots ur3_gripper_moveit_config ur5_gripper_moveit_config vacuum_dirt xlerobot_moveit_config common_interfaces_cpp prius_description jderobot_drones jderobot_drones_cpp

ROS Distro
github

Package Summary

Version	0.0.1
License	Apache-2.0
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/jderobot/roboticsinfrastructure.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-10-10
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS2 node that bridges a MiR100 real (or mocked) robot to the topics the MiR100 exercise's HAL expects. It talks straight to the robot over the rosbridge websocket protocol, or to a mir_driver running outside the docker, so no ROS1 install is needed inside this container.

Maintainers

aquintan

Authors

No additional authors.

mir100_bridge

ROS2 node that republishes a MiR100 (real or mocked, see CustomRobots/mir100/mir100_mock) as the same topics the simulated MiR100 uses, so the HAL does not see any difference between sim and real robot.

It never installs ROS1. It connects as a plain rosbridge websocket client, so the whole node is pure ROS2/rclpy and runs inside the RoboticsAcademy docker like any other exercise node.

Launched through CustomRobots/mir100/launch/mir100_physical.launch.py, the launch file used for scenes of type physical.

Modes

robot (default): talks straight to the MiR100, which already exposes rosbridge on port 9090. Nothing to launch besides the exercise, the robot only has to be reachable on the network. Its address defaults to 192.168.12.20, the one it has on its own wifi.
driver: talks to a mir_driver running outside the docker, with its own rosbridge_server on port 9091. For setups that already have their own driver.

Topics

MiR100 or mir_driver	ROS2 (this node)
`/cmd_vel`	`/mir100/cmd_vel`
`/odom`	`/mir100/odom`
`/f_scan`	`/mir100/front_laser/scan`
`/b_scan`	`/mir100/back_laser/scan`
`/imu_data`	`/mir100/imu`

In robot mode the twist is sent with a header, as the MiR software 2.7 and newer expects, mir_driver does that itself in driver mode.

Parameters

mode, robot or driver, defaults to robot.
ros1_hostname, where to connect. In robot mode it defaults to the MIR100_ROBOT_IP environment variable, then 192.168.12.20. In driver mode it is the machine running mir_driver, resolved when empty from the MIR100_ROS1_HOST environment variable, then host.docker.internal, then the container’s default gateway (the docker host on Linux), and finally localhost.
ros1_port, defaults to 9090 in robot mode and 9091 in driver mode.
namespace, defaults to mir100.

Dependency

Needs roslibpy, a plain Python websocket client, not a ROS package. RADI installs it in scripts/RADI/Dockerfile.dependencies_humble. Outside RADI use pip install roslibpy.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	rclpy
	geometry_msgs
	nav_msgs
	sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mir100_bridge` at Robotics Stack Exchange

mir100_bridge package from roboticsinfrastructure repo

custom_robots conveyor_belt_plugin drone_gripper gz_link_attacher gz_mimic_joint gz_noisy_odometry hangar_obstacles linkattacher_msgs mir100_bridge mmo500_moveit_config pcl_filter pcl_filter_msgs robotiq_description ros2_robotiqgripper ros2srrc_ur3_gazebo ros2srrc_ur3_moveit2 ros2srrc_ur5_gazebo ros2srrc_ur5_moveit2 ros2srrc_data ros2srrc_endeffectors ros2srrc_execution ros2srrc_robots ur3_gripper_moveit_config ur5_gripper_moveit_config vacuum_dirt xlerobot_moveit_config common_interfaces_cpp prius_description jderobot_drones jderobot_drones_cpp

ROS Distro
github

Package Summary

Version	0.0.1
License	Apache-2.0
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/jderobot/roboticsinfrastructure.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-10-10
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS2 node that bridges a MiR100 real (or mocked) robot to the topics the MiR100 exercise's HAL expects. It talks straight to the robot over the rosbridge websocket protocol, or to a mir_driver running outside the docker, so no ROS1 install is needed inside this container.

Maintainers

aquintan

Authors

No additional authors.

mir100_bridge

ROS2 node that republishes a MiR100 (real or mocked, see CustomRobots/mir100/mir100_mock) as the same topics the simulated MiR100 uses, so the HAL does not see any difference between sim and real robot.

It never installs ROS1. It connects as a plain rosbridge websocket client, so the whole node is pure ROS2/rclpy and runs inside the RoboticsAcademy docker like any other exercise node.

Launched through CustomRobots/mir100/launch/mir100_physical.launch.py, the launch file used for scenes of type physical.

Modes

robot (default): talks straight to the MiR100, which already exposes rosbridge on port 9090. Nothing to launch besides the exercise, the robot only has to be reachable on the network. Its address defaults to 192.168.12.20, the one it has on its own wifi.
driver: talks to a mir_driver running outside the docker, with its own rosbridge_server on port 9091. For setups that already have their own driver.

Topics

MiR100 or mir_driver	ROS2 (this node)
`/cmd_vel`	`/mir100/cmd_vel`
`/odom`	`/mir100/odom`
`/f_scan`	`/mir100/front_laser/scan`
`/b_scan`	`/mir100/back_laser/scan`
`/imu_data`	`/mir100/imu`

In robot mode the twist is sent with a header, as the MiR software 2.7 and newer expects, mir_driver does that itself in driver mode.

Parameters

mode, robot or driver, defaults to robot.
ros1_hostname, where to connect. In robot mode it defaults to the MIR100_ROBOT_IP environment variable, then 192.168.12.20. In driver mode it is the machine running mir_driver, resolved when empty from the MIR100_ROS1_HOST environment variable, then host.docker.internal, then the container’s default gateway (the docker host on Linux), and finally localhost.
ros1_port, defaults to 9090 in robot mode and 9091 in driver mode.
namespace, defaults to mir100.

Dependency

Needs roslibpy, a plain Python websocket client, not a ROS package. RADI installs it in scripts/RADI/Dockerfile.dependencies_humble. Outside RADI use pip install roslibpy.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	rclpy
	geometry_msgs
	nav_msgs
	sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mir100_bridge` at Robotics Stack Exchange

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.

mir100_bridge package from roboticsinfrastructure repo

custom_robots conveyor_belt_plugin drone_gripper gz_link_attacher gz_mimic_joint gz_noisy_odometry hangar_obstacles linkattacher_msgs mir100_bridge mmo500_moveit_config pcl_filter pcl_filter_msgs robotiq_description ros2_robotiqgripper ros2srrc_ur3_gazebo ros2srrc_ur3_moveit2 ros2srrc_ur5_gazebo ros2srrc_ur5_moveit2 ros2srrc_data ros2srrc_endeffectors ros2srrc_execution ros2srrc_robots ur3_gripper_moveit_config ur5_gripper_moveit_config vacuum_dirt xlerobot_moveit_config common_interfaces_cpp prius_description jderobot_drones jderobot_drones_cpp

ROS Distro
github

Package Summary

Version	0.0.1
License	Apache-2.0
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/jderobot/roboticsinfrastructure.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-10-10
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS2 node that bridges a MiR100 real (or mocked) robot to the topics the MiR100 exercise's HAL expects. It talks straight to the robot over the rosbridge websocket protocol, or to a mir_driver running outside the docker, so no ROS1 install is needed inside this container.

Maintainers

aquintan

Authors

No additional authors.

mir100_bridge

ROS2 node that republishes a MiR100 (real or mocked, see CustomRobots/mir100/mir100_mock) as the same topics the simulated MiR100 uses, so the HAL does not see any difference between sim and real robot.

It never installs ROS1. It connects as a plain rosbridge websocket client, so the whole node is pure ROS2/rclpy and runs inside the RoboticsAcademy docker like any other exercise node.

Launched through CustomRobots/mir100/launch/mir100_physical.launch.py, the launch file used for scenes of type physical.

Modes

robot (default): talks straight to the MiR100, which already exposes rosbridge on port 9090. Nothing to launch besides the exercise, the robot only has to be reachable on the network. Its address defaults to 192.168.12.20, the one it has on its own wifi.
driver: talks to a mir_driver running outside the docker, with its own rosbridge_server on port 9091. For setups that already have their own driver.

Topics

MiR100 or mir_driver	ROS2 (this node)
`/cmd_vel`	`/mir100/cmd_vel`
`/odom`	`/mir100/odom`
`/f_scan`	`/mir100/front_laser/scan`
`/b_scan`	`/mir100/back_laser/scan`
`/imu_data`	`/mir100/imu`

In robot mode the twist is sent with a header, as the MiR software 2.7 and newer expects, mir_driver does that itself in driver mode.

Parameters

mode, robot or driver, defaults to robot.
ros1_hostname, where to connect. In robot mode it defaults to the MIR100_ROBOT_IP environment variable, then 192.168.12.20. In driver mode it is the machine running mir_driver, resolved when empty from the MIR100_ROS1_HOST environment variable, then host.docker.internal, then the container’s default gateway (the docker host on Linux), and finally localhost.
ros1_port, defaults to 9090 in robot mode and 9091 in driver mode.
namespace, defaults to mir100.

Dependency

Needs roslibpy, a plain Python websocket client, not a ROS package. RADI installs it in scripts/RADI/Dockerfile.dependencies_humble. Outside RADI use pip install roslibpy.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	rclpy
	geometry_msgs
	nav_msgs
	sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mir100_bridge` at Robotics Stack Exchange

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.

mir100_bridge package from roboticsinfrastructure repo

custom_robots conveyor_belt_plugin drone_gripper gz_link_attacher gz_mimic_joint gz_noisy_odometry hangar_obstacles linkattacher_msgs mir100_bridge mmo500_moveit_config pcl_filter pcl_filter_msgs robotiq_description ros2_robotiqgripper ros2srrc_ur3_gazebo ros2srrc_ur3_moveit2 ros2srrc_ur5_gazebo ros2srrc_ur5_moveit2 ros2srrc_data ros2srrc_endeffectors ros2srrc_execution ros2srrc_robots ur3_gripper_moveit_config ur5_gripper_moveit_config vacuum_dirt xlerobot_moveit_config common_interfaces_cpp prius_description jderobot_drones jderobot_drones_cpp

ROS Distro
github

Package Summary

Version	0.0.1
License	Apache-2.0
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/jderobot/roboticsinfrastructure.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-10-10
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS2 node that bridges a MiR100 real (or mocked) robot to the topics the MiR100 exercise's HAL expects. It talks straight to the robot over the rosbridge websocket protocol, or to a mir_driver running outside the docker, so no ROS1 install is needed inside this container.

Maintainers

aquintan

Authors

No additional authors.

mir100_bridge

ROS2 node that republishes a MiR100 (real or mocked, see CustomRobots/mir100/mir100_mock) as the same topics the simulated MiR100 uses, so the HAL does not see any difference between sim and real robot.

It never installs ROS1. It connects as a plain rosbridge websocket client, so the whole node is pure ROS2/rclpy and runs inside the RoboticsAcademy docker like any other exercise node.

Launched through CustomRobots/mir100/launch/mir100_physical.launch.py, the launch file used for scenes of type physical.

Modes

robot (default): talks straight to the MiR100, which already exposes rosbridge on port 9090. Nothing to launch besides the exercise, the robot only has to be reachable on the network. Its address defaults to 192.168.12.20, the one it has on its own wifi.
driver: talks to a mir_driver running outside the docker, with its own rosbridge_server on port 9091. For setups that already have their own driver.

Topics

MiR100 or mir_driver	ROS2 (this node)
`/cmd_vel`	`/mir100/cmd_vel`
`/odom`	`/mir100/odom`
`/f_scan`	`/mir100/front_laser/scan`
`/b_scan`	`/mir100/back_laser/scan`
`/imu_data`	`/mir100/imu`

In robot mode the twist is sent with a header, as the MiR software 2.7 and newer expects, mir_driver does that itself in driver mode.

Parameters

mode, robot or driver, defaults to robot.
ros1_hostname, where to connect. In robot mode it defaults to the MIR100_ROBOT_IP environment variable, then 192.168.12.20. In driver mode it is the machine running mir_driver, resolved when empty from the MIR100_ROS1_HOST environment variable, then host.docker.internal, then the container’s default gateway (the docker host on Linux), and finally localhost.
ros1_port, defaults to 9090 in robot mode and 9091 in driver mode.
namespace, defaults to mir100.

Dependency

Needs roslibpy, a plain Python websocket client, not a ROS package. RADI installs it in scripts/RADI/Dockerfile.dependencies_humble. Outside RADI use pip install roslibpy.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	rclpy
	geometry_msgs
	nav_msgs
	sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mir100_bridge` at Robotics Stack Exchange

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.

mir100_bridge package from roboticsinfrastructure repo

custom_robots conveyor_belt_plugin drone_gripper gz_link_attacher gz_mimic_joint gz_noisy_odometry hangar_obstacles linkattacher_msgs mir100_bridge mmo500_moveit_config pcl_filter pcl_filter_msgs robotiq_description ros2_robotiqgripper ros2srrc_ur3_gazebo ros2srrc_ur3_moveit2 ros2srrc_ur5_gazebo ros2srrc_ur5_moveit2 ros2srrc_data ros2srrc_endeffectors ros2srrc_execution ros2srrc_robots ur3_gripper_moveit_config ur5_gripper_moveit_config vacuum_dirt xlerobot_moveit_config common_interfaces_cpp prius_description jderobot_drones jderobot_drones_cpp

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version	0.0.1
License	Apache-2.0
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/jderobot/roboticsinfrastructure.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-10-10
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS2 node that bridges a MiR100 real (or mocked) robot to the topics the MiR100 exercise's HAL expects. It talks straight to the robot over the rosbridge websocket protocol, or to a mir_driver running outside the docker, so no ROS1 install is needed inside this container.

Maintainers

aquintan

Authors

No additional authors.

mir100_bridge

ROS2 node that republishes a MiR100 (real or mocked, see CustomRobots/mir100/mir100_mock) as the same topics the simulated MiR100 uses, so the HAL does not see any difference between sim and real robot.

It never installs ROS1. It connects as a plain rosbridge websocket client, so the whole node is pure ROS2/rclpy and runs inside the RoboticsAcademy docker like any other exercise node.

Launched through CustomRobots/mir100/launch/mir100_physical.launch.py, the launch file used for scenes of type physical.

Modes

robot (default): talks straight to the MiR100, which already exposes rosbridge on port 9090. Nothing to launch besides the exercise, the robot only has to be reachable on the network. Its address defaults to 192.168.12.20, the one it has on its own wifi.
driver: talks to a mir_driver running outside the docker, with its own rosbridge_server on port 9091. For setups that already have their own driver.

Topics

MiR100 or mir_driver	ROS2 (this node)
`/cmd_vel`	`/mir100/cmd_vel`
`/odom`	`/mir100/odom`
`/f_scan`	`/mir100/front_laser/scan`
`/b_scan`	`/mir100/back_laser/scan`
`/imu_data`	`/mir100/imu`

In robot mode the twist is sent with a header, as the MiR software 2.7 and newer expects, mir_driver does that itself in driver mode.

Parameters

mode, robot or driver, defaults to robot.
ros1_hostname, where to connect. In robot mode it defaults to the MIR100_ROBOT_IP environment variable, then 192.168.12.20. In driver mode it is the machine running mir_driver, resolved when empty from the MIR100_ROS1_HOST environment variable, then host.docker.internal, then the container’s default gateway (the docker host on Linux), and finally localhost.
ros1_port, defaults to 9090 in robot mode and 9091 in driver mode.
namespace, defaults to mir100.

Dependency

Needs roslibpy, a plain Python websocket client, not a ROS package. RADI installs it in scripts/RADI/Dockerfile.dependencies_humble. Outside RADI use pip install roslibpy.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	rclpy
	geometry_msgs
	nav_msgs
	sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mir100_bridge` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.

mir100_bridge package from roboticsinfrastructure repo

custom_robots conveyor_belt_plugin drone_gripper gz_link_attacher gz_mimic_joint gz_noisy_odometry hangar_obstacles linkattacher_msgs mir100_bridge mmo500_moveit_config pcl_filter pcl_filter_msgs robotiq_description ros2_robotiqgripper ros2srrc_ur3_gazebo ros2srrc_ur3_moveit2 ros2srrc_ur5_gazebo ros2srrc_ur5_moveit2 ros2srrc_data ros2srrc_endeffectors ros2srrc_execution ros2srrc_robots ur3_gripper_moveit_config ur5_gripper_moveit_config vacuum_dirt xlerobot_moveit_config common_interfaces_cpp prius_description jderobot_drones jderobot_drones_cpp

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version	0.0.1
License	Apache-2.0
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/jderobot/roboticsinfrastructure.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-10-10
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS2 node that bridges a MiR100 real (or mocked) robot to the topics the MiR100 exercise's HAL expects. It talks straight to the robot over the rosbridge websocket protocol, or to a mir_driver running outside the docker, so no ROS1 install is needed inside this container.

Maintainers

aquintan

Authors

No additional authors.