Robot Lab (Spring 2012)

Mailing List

• archive: http://mail.cs.drexel.edu/pipermail/robotlab/
• management page: https://mail.cs.drexel.edu/mailman/listinfo/robotlab

our git repo

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

Where <USER> is your Tux user name.

ROS (robot operating system)

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

p2os

The ROS stack for hooking up to the pioneer

I (anna) haven't gotten this to work because of my usb issues, but according to Jonathan, when you do:

$ rosrun p2os_driver p2os

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 19 apr

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/

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?