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

git clone ssh://<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

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