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| | [[Category:Classes]] | | [[Category:Classes]] |
| − | | + | == Class Resources == |
| − | == Class Information == | + | |
| − | === Student Pages ===
| + | |
| − | [[User:jryan]]
| + | |
| − | | + | |
| | === Mailing List === | | === Mailing List === |
| − | * Archive: http://mail.cs.drexel.edu/pipermail/robotlab/ | + | * [http://mail.cs.drexel.edu/pipermail/robotlab/ Archive] |
| − | * Management page: https://mail.cs.drexel.edu/mailman/listinfo/robotlab | + | * [https://mail.cs.drexel.edu/mailman/listinfo/robotlab Management] |
| − | | + | |
| | === Git Repository === | | === Git Repository === |
| | <pre> | | <pre> |
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| | Where <tt><USER></tt> is your Tux user name. | | Where <tt><USER></tt> is your Tux user name. |
| | | | |
| − | == Projects == | + | == Project Notes == |
| − | [[RobotLab(Spring2012)/ROS(RobotOperatingSystem)]] | + | * [[ROS (Robot Operating System)]] - general stuff, interfacing with the robot |
| − | | + | * [[Navigation]] |
| − | == ROS (Robot Operating System) ==
| + | * [[Motion and Path Planning]] |
| − | http://www.ros.org/wiki/
| + | == Student Pages == |
| − | | + | How-to's and what we've learned: |
| − | === p2os ===
| + | * [[User:jryan]] |
| − | The ROS stack for hooking up to the pioneer.
| + | * [[User:aeh84]] |
| − | | + | * [[User:aps43]] |
| − | ==== Installing ====
| + | * [[User:Ws342]] |
| − | http://www.ros.org/wiki/p2os/Tutorials/Getting%20Started%20with%20p2os
| + | * [[User:T Wambold]] |
| − | After following the directions above, we have to set the p2os/port to our cable's device name:
| + | |
| − | <pre>$ rosparam set p2os/port /dev/ttyUSB0</pre>
| + | |
| − | | + | |
| − | ==== Running ====
| + | |
| − | Run on the base:
| + | |
| − | <pre>$ rosrun p2os_driver p2os</pre>
| + | |
| − | Run on the computer controlling the base:
| + | |
| − | <pre>$ rosrun p2os_dashboard p2os_dashboard</pre>
| + | |
| − | If you get an error like:
| + | |
| − | <blockquote>P2OS connection opening serial port /dev/ttyS0...</blockquote>
| + | |
| − | This command should fix it:
| + | |
| − | <pre>$ rosparam set p2os/port /dev/ttyUSB0</pre>
| + | |
| − | | + | |
| − | ==== 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:
| + | |
| − | | + | |
| − | <pre>$ roslaunch p2os_launch teleop_keyboard.launch</pre>
| + | |
| − | | + | |
| − | | + | |
| − | == 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?
| + | |
