ROS (Robot Operating System)

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We used ROS so we could take advantage of the large amount of packages it provides. This is so we don't have to reinvent the wheel.



p2os is the ROS stack for communicating with the pioneer robot. An example of the pioneer robot using ROS and the navigation system:


Open up a terminal. Clone the git repository into your home directory:

git clone <USER>

Enter the repository:

cd ~/robotlab

Then run the ros setup script.


Wait for passwords, until you get the done prompt.

Control with Keyboard

After starting the p2os driver and everything, you can control the robot via keyboard with:

$ roslaunch p2os_launch teleop_keyboard.launch


Just launch the robot's rviz launch with (robot lab is the git repository root):

$ cd robotlab/ros/stacks/unicorn
$ roslaunch unicorn.launch