Robot Lab (Spring 2012)

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Class Information

Student Pages


Mailing List

Git Repository

git clone ssh://<USER>

Where <USER> is your Tux user name.



ROS (Robot Operating System)


The ROS stack for hooking up to the pioneer.

Installing After following the directions above, we have to set the p2os/port to our cable's device name:

$ rosparam set p2os/port /dev/ttyUSB0


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


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?