Robot Lab (Spring 2012)
- Archive: http://mail.cs.drexel.edu/pipermail/robotlab/
- Management page: https://mail.cs.drexel.edu/mailman/listinfo/robotlab
git clone ssh://<USER>@tux.cs.drexel.edu/~taw38/repos/robotlab.git 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
updated 19 apr
Motion and Path Planning
- The Open Motion Planning Library (OMPL) http://ompl.kavrakilab.org/
OMPL + ROS
point cloud library
after starting the p2os driver and everything, you can control the robot via keyboard with:
$ roslaunch p2os_launch teleop_keyboard.launch
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?