ROS (Robot Operating System)

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

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

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

To get p2os_teleop working: http://answers.ros.org/question/11417/datatypemd5sum-error-with-p2os_teleop

rviz

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

export OGRE_RTT_MODE=FBO