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

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* http://www.ros.org/wiki/navigation/Tutorials/RobotSetup
 
* http://www.ros.org/wiki/navigation/Tutorials/RobotSetup
  
 
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== Point Cloud Library ==
== point cloud library ==
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* http://www.pointclouds.org
http://www.pointclouds.org
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* http://www.ros.org/wiki/pcl
 
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http://www.ros.org/wiki/pcl
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+
  
 
== robot commands ==
 
== robot commands ==
 
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After starting the p2os driver and everything, you can control the robot via keyboard with:  
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>
 
<pre>$ roslaunch p2os_launch teleop_keyboard.launch</pre>
  
 
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== SLAM, tf, Navigation ==
== 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.
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?
currently we don't think we have any sensor transforms
+
 
+
tf references a "world frame" -- is this our map?
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Revision as of 13:10, 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

robot commands

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

$ roslaunch p2os_launch teleop_keyboard.launch

SLAM, tf, Navigation