ROS (Robot Operating System)

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(Difference between revisions)

Revision as of 23:05, 18 June 2012

We used ROS so we could take advantage of the large amount of packages it provides. This is so we don't have to reinvent the wheel: ROS Wiki

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

Open up a terminal. Clone the git repository into your home directory:

git clone <USER>@tux.cs.drexel.edu:~taw38/repos/robotlab.git

Enter the repository:

cd ~/robotlab

Then run the ros setup script.

./ros/bin/setup-ros.bash

Wait for passwords, until you get the done prompt.

After starting the p2os driver and everything, you can control the robot via keyboard with:

$ roslaunch p2os_launch teleop_keyboard.launch

To get rviz to work put this in your .bashrc:

export OGRE_RTT_MODE=FBO

@@ Line 1: / Line 1: @@
-We're using ROS to do our work so we can easily translate it to the robot.
+We used ROS so we could take advantage of the large amount of packages it provides. This is so we don't have to reinvent the wheel:
-http://www.ros.org/wiki/
+[http://www.ros.org/wiki/ ROS Wiki]
 == p2os ==
 The ROS stack for hooking up to the pioneer.