ROS (Robot Operating System)
From GICLWiki
(Difference between revisions)
(→Installing) |
|||
| Line 5: | Line 5: | ||
=== Installing === | === Installing === | ||
http://www.ros.org/wiki/p2os/Tutorials/Getting%20Started%20with%20p2os | 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: | 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> | <pre>$ rosparam set p2os/port /dev/ttyUSB0</pre> | ||
| + | |||
=== Running === | === Running === | ||
Run on the base: | Run on the base: | ||
Revision as of 14:34, 26 April 2012
We're using ROS to do our work so we can easily translate it to the robot. http://www.ros.org/wiki/
Contents |
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
Control with Keyboard
After starting the p2os driver and everything, you can control the robot via keyboard with:
$ roslaunch p2os_launch teleop_keyboard.launch
Localization
!! - 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
Point Cloud Library
- 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?
