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

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(Control with Keyboard)
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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>
 
+
To get p2os_teleop working:
 +
http://answers.ros.org/question/11417/datatypemd5sum-error-with-p2os_teleop
  
 
== rviz ==
 
== rviz ==
 
To get rviz to work put this in your .bashrc:
 
To get rviz to work put this in your .bashrc:
 
<pre>export OGRE_RTT_MODE=FBO</pre>
 
<pre>export OGRE_RTT_MODE=FBO</pre>

Revision as of 17:49, 9 May 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

To get p2os_teleop working: http://answers.ros.org/question/11417/datatypemd5sum-error-with-p2os_teleop

rviz

To get rviz to work put this in your .bashrc:

export OGRE_RTT_MODE=FBO