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

From GICL Wiki
Jump to: navigation, search
(Point Cloud Library)
Line 1: Line 1:
 +
We're using ROS to do our work so we can easily translate it to the robot.
 
http://www.ros.org/wiki/  
 
http://www.ros.org/wiki/  
 
 
== p2os ==
 
== p2os ==
 
The ROS stack for hooking up to the pioneer.
 
The ROS stack for hooking up to the pioneer.
 
 
=== Installing ===
 
=== Installing ===
 
http://www.ros.org/wiki/p2os/Tutorials/Getting%20Started%20with%20p2os
 
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:
 
After following the directions above, we have to set the p2os/port to our cable's device name:
 
<pre>$ rosparam set p2os/port /dev/ttyUSB0</pre>
 
<pre>$ rosparam set p2os/port /dev/ttyUSB0</pre>
 
 
=== Running ===
 
=== Running ===
 
Run on the base:
 
Run on the base:
Line 18: Line 16:
 
This command should fix it:
 
This command should fix it:
 
<pre>$ rosparam set p2os/port /dev/ttyUSB0</pre>
 
<pre>$ rosparam set p2os/port /dev/ttyUSB0</pre>
 
 
==== Control with Keyboard ====
 
==== Control with Keyboard ====
 
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:  
 
<pre>$ roslaunch p2os_launch teleop_keyboard.launch</pre>
 
<pre>$ roslaunch p2os_launch teleop_keyboard.launch</pre>
 
 
== Localization ==
 
== Localization ==
 
!! - Updated April 19th
 
!! - Updated April 19th
Line 38: Line 34:
 
* 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
 
 
== Point Cloud Library ==
 
== Point Cloud Library ==
 
* http://www.pointclouds.org
 
* http://www.pointclouds.org
 
* http://www.ros.org/wiki/pcl
 
* http://www.ros.org/wiki/pcl
 
 
== SLAM, tf, Navigation ==
 
== SLAM, tf, Navigation ==
 
* 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.
 
* Currently we don't think we have any sensor transforms.
 
* Currently we don't think we have any sensor transforms.
 
* tf references a "world frame" -- is this our map?
 
* tf references a "world frame" -- is this our map?

Revision as of 12:17, 26 April 2012

We're using ROS to do our work so we can easily translate it to the robot. 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

Control with Keyboard

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

$ roslaunch p2os_launch teleop_keyboard.launch

Localization

!! - Updated April 19th

Point Cloud Library

SLAM, tf, Navigation