Difference between revisions of "Robot Lab (Spring 2012)"

From GICL Wiki
Jump to: navigation, search
(Git Repository)
(ROS (Robot Operating System))
Line 19: Line 19:
  
 
=== p2os ===
 
=== p2os ===
The ROS stack for hooking up to the pioneer
+
The ROS stack for hooking up to the pioneer.
  
I (anna) haven't gotten this to work because of my usb issues, but according to Jonathan, when you do:  
+
==== 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:
 +
<pre>$ rosparam set p2os/port /dev/ttyUSB0</pre>
 +
 
 +
==== Running ====
 +
Run on the base:
 
<pre>$ rosrun p2os_driver p2os</pre>
 
<pre>$ rosrun p2os_driver p2os</pre>
if you get an error like  
+
Run on the computer controlling the base:
 +
<pre>$ rosrun p2os_dashboard p2os_dashboard</pre>
 +
If you get an error like:
 
<blockquote>P2OS connection opening serial port /dev/ttyS0...</blockquote>
 
<blockquote>P2OS connection opening serial port /dev/ttyS0...</blockquote>
this command should fix it:
+
This command should fix it:
 
<pre>$ rosparam set p2os/port /dev/ttyUSB0</pre>
 
<pre>$ rosparam set p2os/port /dev/ttyUSB0</pre>
  
=== localization links ===
+
==== Localization Links ====
updated 19 apr
+
!! - Updated April 19th
 
+
http://ros.org/wiki/ROS/Higher-Level%20Concepts
+
 
+
http://ros.org/wiki/tf
+
 
+
http://www.ros.org/wiki/stage
+
 
+
http://www.ros.org/wiki/base_local_planner
+
 
+
http://ros.org/wiki/navigation
+
 
+
http://ros.org/wiki/robot_pose_ekf/Tutorials/AddingGpsSensor
+
 
+
http://ros.org/wiki/robot_pose_ekf
+
 
+
http://ros.org/wiki/amcl
+
 
+
http://ros.org/wiki/tf/Tutorials/Introduction%20to%20tf
+
 
+
http://www.ros.org/doc/api/nav_msgs/html/msg/Odometry.html
+
 
+
http://www.ros.org/doc/api/sensor_msgs/html/msg/Imu.html
+
  
http://www.ros.org/wiki/navigation/Tutorials/RobotSetup
+
* http://ros.org/wiki/ROS/Higher-Level%20Concepts
 +
* http://ros.org/wiki/tf
 +
* http://www.ros.org/wiki/stage
 +
* http://www.ros.org/wiki/base_local_planner
 +
* http://ros.org/wiki/navigation
 +
* http://ros.org/wiki/robot_pose_ekf/Tutorials/AddingGpsSensor
 +
* http://ros.org/wiki/robot_pose_ekf
 +
* http://ros.org/wiki/amcl
 +
* http://ros.org/wiki/tf/Tutorials/Introduction%20to%20tf
 +
* http://www.ros.org/doc/api/nav_msgs/html/msg/Odometry.html
 +
* http://www.ros.org/doc/api/sensor_msgs/html/msg/Imu.html
 +
* http://www.ros.org/wiki/navigation/Tutorials/RobotSetup
  
 
== Motion and Path Planning ==
 
== Motion and Path Planning ==

Revision as of 12:59, 26 April 2012


Contents

Class Information

Student Pages

User:jryan

Mailing List

Git Repository

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

Where <USER> is your Tux user name.

ROS (Robot Operating System)

http://www.ros.org/wiki/

p2os

The ROS stack for hooking up to the pioneer.

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

Localization Links

!! - Updated April 19th

Motion and Path Planning

OMPL + ROS

point cloud library

http://www.pointclouds.org

http://www.ros.org/wiki/pcl


robot commands

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

$ roslaunch p2os_launch teleop_keyboard.launch


slam, etc

this diagram is important http://www.ros.org/wiki/navigation/Tutorials/RobotSetup?action=AttachFile&do=get&target=overview_tf.png

currently we don't think we have any sensor transforms

tf references a "world frame" -- is this our map?