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

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We're using ROS to do our work so we can easily translate it to the robot.
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We used [http://www.ros.org ROS] so we could take advantage of the large amount of packages it provides. This is so we don't have to reinvent the wheel.
http://www.ros.org/wiki/
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== p2os ==
 
== p2os ==
The ROS stack for hooking up to the pioneer.
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p2os is the ROS stack for communicating with the pioneer robot.
Here is an example of our robot using ROS and the navigation system:
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An example of the pioneer robot using ROS and the navigation system: http://youtu.be/f3Iu2t0d3xo.
http://youtu.be/f3Iu2t0d3xo
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=== Installing ===
 
=== Installing ===
 
Open up a terminal.
 
Open up a terminal.
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Wait for passwords, until you get the done prompt.
 
Wait for passwords, until you get the done prompt.
  
==== Control with Keyboard ====
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=== 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>
To get p2os_teleop working:
 
http://answers.ros.org/question/11417/datatypemd5sum-error-with-p2os_teleop
 
  
== rviz ==
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=== rviz ===
To get rviz to work put this in your .bashrc:
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Just launch the robot's rviz launch with (robot lab is the git repository root):
<pre>export OGRE_RTT_MODE=FBO</pre>
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<pre>$ cd robotlab/ros/stacks/unicorn
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$ roslaunch unicorn.launch</pre>

Latest revision as of 22:15, 18 June 2012

We used ROS so we could take advantage of the large amount of packages it provides. This is so we don't have to reinvent the wheel.

Contents

p2os

p2os is the ROS stack for communicating with the pioneer robot. An example of the pioneer robot using ROS and the navigation system: http://youtu.be/f3Iu2t0d3xo.

Installing

Open up a terminal. Clone the git repository into your home directory:

git clone <USER>@tux.cs.drexel.edu:~taw38/repos/robotlab.git

Enter the repository:

cd ~/robotlab

Then run the ros setup script.

./ros/bin/setup-ros.bash

Wait for passwords, until you get the done prompt.

Control with Keyboard

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

$ roslaunch p2os_launch teleop_keyboard.launch

rviz

Just launch the robot's rviz launch with (robot lab is the git repository root):

$ cd robotlab/ros/stacks/unicorn
$ roslaunch unicorn.launch