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

From GICL Wiki
Jump to: navigation, search
(ROS (Robot Operating System))
(Class Information)
Line 14: Line 14:
 
</pre>
 
</pre>
 
Where <tt><USER></tt> is your Tux user name.
 
Where <tt><USER></tt> is your Tux user name.
 +
 +
== Projects ==
 +
[[Robot Lab (Spring 2012)/ROS (Robot Operating System)]]
  
 
== ROS (Robot Operating System) ==
 
== ROS (Robot Operating System) ==

Revision as of 13:01, 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.

Projects

Robot Lab (Spring 2012)/ROS (Robot Operating System)

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?