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

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(p2os)
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* 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?
 +
 +
== To get rviz to work put this in your .bashrc ==
 +
export OGRE_RTT_MODE=FBO

Revision as of 19:11, 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

To get rviz to work put this in your .bashrc

export OGRE_RTT_MODE=FBO