Robot Lab (Spring 2012)

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)
• Motion and Path Planning

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?