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

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== Projects ==
 
== Projects ==
 
[[ROS (Robot Operating System)]]
 
[[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:
 
<pre>$ rosparam set p2os/port /dev/ttyUSB0</pre>
 
 
==== Running ====
 
Run on the base:
 
<pre>$ rosrun p2os_driver p2os</pre>
 
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>
 
This command should fix it:
 
<pre>$ rosparam set p2os/port /dev/ttyUSB0</pre>
 
 
==== Localization Links ====
 
!! - 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
 
  
 
== Motion and Path Planning ==
 
== Motion and Path Planning ==

Revision as of 12:07, 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

ROS (Robot Operating System)

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?