Robot Lab (Spring 2012)

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Mailing List

Git Repo

git clone ssh://<USER>

Where <USER> is your Tux user name.

ROS (Robot Operating System)


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:

$ rosrun p2os_driver p2os

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 19 apr

Motion and Path Planning


point cloud library

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

currently we don't think we have any sensor transforms

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