ROS (Robot Operating System)

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Revision as of 13:17, 26 April 2012 by Jryan (Talk | contribs)

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We're using ROS to do our work so we can easily translate it to the robot.



The ROS stack for hooking up to the pioneer.

Installing After following the directions above, we have to set the p2os/port to our cable's device name:

$ rosparam set p2os/port /dev/ttyUSB0


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


!! - Updated April 19th

Point Cloud Library

SLAM, tf, Navigation