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

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(Control with Keyboard)
(p2os)
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http://youtu.be/f3Iu2t0d3xo
 
http://youtu.be/f3Iu2t0d3xo
 
=== Installing ===
 
=== Installing ===
http://www.ros.org/wiki/p2os/Tutorials/Getting%20Started%20with%20p2os
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Open a terminal in the git repository.
 
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robotlab/ros/bin/setup-ros.bash
After following the directions above, we have to set the p2os/port to our cable's device name:
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<pre>$ rosparam set p2os/port /dev/ttyUSB0</pre>
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=== Running ===
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Run on the base:
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<pre>$ rosrun p2os_driver p2os</pre>
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Run on the computer controlling the base:
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<pre>$ rosrun p2os_dashboard p2os_dashboard</pre>
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If you get an error like:
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<blockquote>P2OS connection opening serial port /dev/ttyS0...</blockquote>
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This command should fix it:
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<pre>$ rosparam set p2os/port /dev/ttyUSB0</pre>
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==== 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:  

Revision as of 18:40, 10 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

Open a terminal in the git repository. robotlab/ros/bin/setup-ros.bash

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