ROS (Robot Operating System)
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<pre>$ roslaunch p2os_launch teleop_keyboard.launch</pre> | <pre>$ roslaunch p2os_launch teleop_keyboard.launch</pre> | ||
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| − | + | == rviz == | |
| − | + | To get rviz to work put this in your .bashrc: | |
| − | + | <pre>export OGRE_RTT_MODE=FBO</pre> | |
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| − | export OGRE_RTT_MODE=FBO | + | |
Revision as of 14:18, 29 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. Here is an example of our robot using ROS and the navigation system: http://youtu.be/f3Iu2t0d3xo
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
rviz
To get rviz to work put this in your .bashrc:
export OGRE_RTT_MODE=FBO
