ROS (Robot Operating System)
From GICLWiki
(Difference between revisions)
(→rviz) |
|||
| Line 22: | Line 22: | ||
=== rviz === | === rviz === | ||
| − | Just launch the robot's rviz launch with: | + | Just launch the robot's rviz launch with (robot lab is the git repository root): |
| − | <pre>$ roslaunch unicorn.launch</pre> | + | <pre>$ cd robotlab/ros/stacks/unicorn |
| + | $ roslaunch unicorn.launch</pre> | ||
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
