Robot Lab (Spring 2012)

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	== Projects ==		== Projects ==
−	[[RobotLab(Spring2012)/ROS(RobotOperatingSystem)]]	+	[[ROS (Robot Operating System)]]
	== ROS (Robot Operating System) ==		== ROS (Robot Operating System) ==

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Revision as of 13:04, 26 April 2012

Contents 1 Class Information 1.1 Student Pages 1.2 Mailing List 1.3 Git Repository 2 Projects 3 ROS (Robot Operating System) 3.1 p2os 3.1.1 Installing 3.1.2 Running 3.1.3 Localization Links 4 Motion and Path Planning 4.1 OMPL + ROS 5 point cloud library 6 robot commands 7 slam, etc

Class Information

Student Pages

User:jryan

Mailing List

• Archive: http://mail.cs.drexel.edu/pipermail/robotlab/
• Management page: https://mail.cs.drexel.edu/mailman/listinfo/robotlab

Git Repository

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

Where <USER> is your Tux user name.

Projects

ROS (Robot Operating System)

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

Motion and Path Planning

• The Open Motion Planning Library (OMPL) http://ompl.kavrakilab.org/

OMPL + ROS

• http://www.kavrakilab.org/iros2011
• http://www.ros.org/wiki/ompl_ros_interface

point cloud library

http://www.pointclouds.org

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

robot commands

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

$ roslaunch p2os_launch teleop_keyboard.launch

slam, etc

this diagram is important http://www.ros.org/wiki/navigation/Tutorials/RobotSetup?action=AttachFile&do=get&target=overview_tf.png

currently we don't think we have any sensor transforms

tf references a "world frame" -- is this our map?