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

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(Localization)
(p2os)
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== p2os ==
 
== p2os ==
 
The ROS stack for hooking up to the pioneer.
 
The ROS stack for hooking up to the pioneer.
 +
Here is an example of our robot using ROS and the navigation system:
 +
http://youtu.be/f3Iu2t0d3xo
 
=== Installing ===
 
=== Installing ===
 
http://www.ros.org/wiki/p2os/Tutorials/Getting%20Started%20with%20p2os
 
http://www.ros.org/wiki/p2os/Tutorials/Getting%20Started%20with%20p2os
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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:
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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:  
 
<pre>$ roslaunch p2os_launch teleop_keyboard.launch</pre>
 
<pre>$ roslaunch p2os_launch teleop_keyboard.launch</pre>
 +
 
== Localization ==
 
== Localization ==
 
TODO
 
TODO

Revision as of 17:03, 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. Here is an example of our robot using ROS and the navigation system: http://youtu.be/f3Iu2t0d3xo

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

TODO We need to get this working to have the robot pose: http://ros.org/wiki/urdf/Tutorials/Using%20urdf%20with%20robot_state_publisher

!! - Updated April 19th

Point Cloud Library

SLAM, tf, Navigation