ROS (Robot Operating System)
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| − | http://www.ros.org | + | We used [http://www.ros.org 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. |
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== p2os == | == p2os == | ||
| − | + | p2os is the ROS stack for communicating with the pioneer robot. | |
| + | An example of the pioneer robot using ROS and the navigation system: http://youtu.be/f3Iu2t0d3xo. | ||
=== Installing === | === Installing === | ||
| − | + | Open up a terminal. | |
| − | + | Clone the git repository into your home directory: | |
| − | <pre> | + | <pre>git clone <USER>@tux.cs.drexel.edu:~taw38/repos/robotlab.git</pre> |
| − | + | Enter the repository: | |
| − | + | <pre>cd ~/robotlab</pre> | |
| − | <pre> | + | |
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| − | + | Then run the ros setup script. | |
| + | <pre>./ros/bin/setup-ros.bash</pre> | ||
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| + | Wait for passwords, until you get the done prompt. | ||
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| + | === Control with Keyboard === | ||
After starting the p2os driver and everything, you can control the robot via keyboard with: | After starting the p2os driver and everything, you can control the robot via keyboard with: | ||
<pre>$ roslaunch p2os_launch teleop_keyboard.launch</pre> | <pre>$ roslaunch p2os_launch teleop_keyboard.launch</pre> | ||
| − | === | + | === rviz === |
| − | + | Just launch the robot's rviz launch with (robot lab is the git repository root): | |
| − | + | <pre>$ cd robotlab/ros/stacks/unicorn | |
| − | + | $ roslaunch unicorn.launch</pre> | |
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Latest revision as of 23:15, 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.
Contents |
p2os
p2os is the ROS stack for communicating with the pioneer robot. An example of the pioneer robot using ROS and the navigation system: http://youtu.be/f3Iu2t0d3xo.
Installing
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.
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
Just launch the robot's rviz launch with (robot lab is the git repository root):
$ cd robotlab/ros/stacks/unicorn $ roslaunch unicorn.launch
