ROS (Robot Operating System)

http://www.ros.org/wiki/

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

Localization Links

!! - 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