Difference between revisions of "ROS (Robot Operating System)"

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(Installing =)
(p2os)
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* http://www.ros.org/doc/api/sensor_msgs/html/msg/Imu.html
 
* http://www.ros.org/doc/api/sensor_msgs/html/msg/Imu.html
 
* http://www.ros.org/wiki/navigation/Tutorials/RobotSetup
 
* http://www.ros.org/wiki/navigation/Tutorials/RobotSetup
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== point cloud library ==
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http://www.pointclouds.org
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http://www.ros.org/wiki/pcl
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== robot commands ==
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after starting the p2os driver and everything, you can control the robot via keyboard with:
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<pre>$ roslaunch p2os_launch teleop_keyboard.launch</pre>
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== slam, etc ==
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this diagram is important http://www.ros.org/wiki/navigation/Tutorials/RobotSetup?action=AttachFile&do=get&target=overview_tf.png
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currently we don't think we have any sensor transforms
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tf references a "world frame" -- is this our map?

Revision as of 12:09, 26 April 2012

http://www.ros.org/wiki/

Contents

p2os

The ROS stack for hooking up to the pioneer.

Installing

http://www.ros.org/wiki/p2os/Tutorials/Getting%20Started%20with%20p2os After following the directions above, we have to set the p2os/port to our cable's device name:

$ rosparam set p2os/port /dev/ttyUSB0

Running

Run on the base:

$ rosrun p2os_driver p2os

Run on the computer controlling the base:

$ rosrun p2os_dashboard p2os_dashboard

If you get an error like:

P2OS connection opening serial port /dev/ttyS0...

This command should fix it:

$ rosparam set p2os/port /dev/ttyUSB0

Localization Links

!! - Updated April 19th


point cloud library

http://www.pointclouds.org

http://www.ros.org/wiki/pcl


robot commands

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

$ roslaunch p2os_launch teleop_keyboard.launch


slam, etc

this diagram is important http://www.ros.org/wiki/navigation/Tutorials/RobotSetup?action=AttachFile&do=get&target=overview_tf.png

currently we don't think we have any sensor transforms

tf references a "world frame" -- is this our map?