No version for distro humble showing kinetic. Known supported distros are highlighted in the buttons above.

pioneer_mrs package from pioneer_mrs repo

pioneer_mrs

ROS Distro
kinetic

Package Summary

Tags	No category tags.
Version	1.4.0
License	MIT
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/hanzheteng/pioneer_mrs.git
VCS Type	git
VCS Version	master
Last Updated	2020-03-04
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The pioneer_mrs ROS package for Pioneer 3-AT Multi-Robot Systems

Additional Links

Maintainers

Hanzhe Teng

Authors

Hanzhe Teng

README.md

pioneer_mrs

1. Introduction

A ROS package for Pioneer 3-AT Multi-Robot Systems.

This is a flexible experimental platform for multi-robot systems (MRS). Should there be any problem, please feel free to contact maintainer @hanzheteng or open a new issue in this repository.

ROS package	Description (Features)	Platform
pioneer_mrs	Support scientific computing library (numpy, scipy, etc.) for your algorithms Support two kinds of localization methods (odometry, VICON) Support two kinds of robot-level simulators (MobileSim, Gazebo) Visualization is under developing	Pioneer 3-AT Ubuntu 16.04.3 LTS Robot Operating System (kinetic) ROSARIA package (git-commit-aa8d5f7) ARIA lib (2.9.1a-ubuntu16-i386)

2. Usage

2.1 Running on Robots

System Configuration

Before using this package to drive your robots, you may configure your platform following the steps:

All machines (5 robots + 1 laptop) are installed Ubuntu 16.04 and ROS Kinetic
All robots (onboard computer, actually) are installed and catkin_make-ed ARIA lib and ROSARIA package
All machines need a static IP address and are able to automatically connect to your local WiFi
Write the IP and hostname information into /etc/hosts file on all the machines
Your commander (laptop) is able to SSH to all robots via public key (instead of password)
Onboard computers are able to get access to the microcontroller via serial post (add user to dialout group)

For detailed information regarding how to set up the whole system, please refer to the wiki page.

Moreover, there are two suggestions which is not necessary for this system but may be useful for your development.

You may install a teamviewer software on your laptop and robots so that you can remote login into your onboard computers.
For IDE, I recommend RoboWare Studio, which is especially designed for ROS developers. Another alternative is KDevelop, which is a cross-platform IDE.

Package Dependencies

Before git clone this repository, you need to install ARIA lib and git clone ROSARIA package first. After that, catkin_make your ROSARIA package with ARIA library. Then, you can clone this repository by git clone https://github.com/hanzheteng/pioneer_mrs.git and catkin_make this package in your workspace.

Notice:

You must catkin_make the ROSARIA package first before you clone and make this package, otherwise it may report errors.
Sometimes you need to catkin_make pioneer_mrs_generate_messages first before catkin_make this package, because the compiler may not be able to find the header file of our messages.

Optional package:

If you want to use VICON motion capture system, you also need to git clone and catkin_make vicon_bridge package.

Sample Usage

Basically there are several steps:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch
launch nodes on commander roslaunch pioneer_mrs commander.launch

If using Vicon:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=vicon
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.2 Running on MobileSim Simulator

You also need ROSARIA package to connect to MobileSim simulator. Moreover, you need to install MobileSim on your laptop.

Basically there are several steps:

run a MobileSim simulator and spawn five robots roslaunch pioneer_mrs mobilesim.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch machine:=mobilesim
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.3 Running on Gazebo Simulator

You do not need ROSARIA package here, since Gazebo will take charge of publishing odom information and dealing with cmd_vel commands. Gazebo is installed by default along with ROS if choosing desktop-full install. Moreover, for simulations of Pioneer 3-AT robots, you also need models and URDF files supplied by Mobile Robots Inc. by git clone amr-ros-config meta-package.

Basically there are several steps:

run a Gazebo simulator and spawn five robots roslaunch pioneer_mrs gazebo.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=gazebo machine:=gazebo
launch nodes on commander roslaunch pioneer_mrs commander.launch

Notice: On real robots, movement commands only execute for 600ms because of WatchDog timeout mechanism; but in gazebo simulator, robots will keep moving towards the last direction. You may press space bar (stop command) to stop it.

2.4 Single Robot Recoverary

Optional launch file (e.g. robot1):

launch one robot roslaunch pioneer_mrs single-robot.launch hostname:=robot1
launch one robot with Vicon roslaunch pioneer_mrs single-robot.launch hostname:=robot1 pose:=vicon
launch one robot on MobileSim simulator

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	catkin
	gazebo_ros
	xacro
	message_runtime
	roscpp
	rospy
	std_msgs
	nav_msgs
	tf
	geometry_msgs
	message_generation
	dynamic_reconfigure
	actionlib
	actionlib_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/commander.launch
launch/gazebo.launch
- - world_name [default: worlds/empty.world]
  - urdf [default: $(find pioneer_mrs)/config/pioneer3at.urdf]
  - r1 [default: -model robot1 -robot_namespace robot1/gazebo -x 0 -y 2]
  - r2 [default: -model robot2 -robot_namespace robot2/gazebo -x 0 -y 1]
  - r3 [default: -model robot3 -robot_namespace robot3/gazebo -x 0 -y 0]
  - r4 [default: -model robot4 -robot_namespace robot4/gazebo -x 0 -y -1]
  - r5 [default: -model robot5 -robot_namespace robot5/gazebo -x 0 -y -2]
launch/mobilesim.launch
launch/multi-robot.launch
- - hostname
  - machine [default: remote]
  - pose [default: odom]
  - port
launch/single-robot.launch
- - hostname [default: robot1]
  - machine [default: remote]
  - pose [default: odom]
  - port
config/robot.xml
- - hostname [default: robot1]
  - machine [default: commander]
  - pose [default: odom]
  - port [default: /dev/ttyS0]
config/vicon.xml

Messages

Services

srv/Pose2D.srv

Plugins

No plugins found.

Recent questions tagged `pioneer_mrs` at Robotics Stack Exchange

API Docs Browse Code

No version for distro jazzy showing kinetic. Known supported distros are highlighted in the buttons above.

pioneer_mrs package from pioneer_mrs repo

pioneer_mrs

ROS Distro
kinetic

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	1.4.0
License	MIT
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/hanzheteng/pioneer_mrs.git
VCS Type	git
VCS Version	master
Last Updated	2020-03-04
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The pioneer_mrs ROS package for Pioneer 3-AT Multi-Robot Systems

Additional Links

Maintainers

Hanzhe Teng

Authors

Hanzhe Teng

README.md

pioneer_mrs

1. Introduction

A ROS package for Pioneer 3-AT Multi-Robot Systems.

This is a flexible experimental platform for multi-robot systems (MRS). Should there be any problem, please feel free to contact maintainer @hanzheteng or open a new issue in this repository.

ROS package	Description (Features)	Platform
pioneer_mrs	Support scientific computing library (numpy, scipy, etc.) for your algorithms Support two kinds of localization methods (odometry, VICON) Support two kinds of robot-level simulators (MobileSim, Gazebo) Visualization is under developing	Pioneer 3-AT Ubuntu 16.04.3 LTS Robot Operating System (kinetic) ROSARIA package (git-commit-aa8d5f7) ARIA lib (2.9.1a-ubuntu16-i386)

2. Usage

2.1 Running on Robots

System Configuration

Before using this package to drive your robots, you may configure your platform following the steps:

All machines (5 robots + 1 laptop) are installed Ubuntu 16.04 and ROS Kinetic
All robots (onboard computer, actually) are installed and catkin_make-ed ARIA lib and ROSARIA package
All machines need a static IP address and are able to automatically connect to your local WiFi
Write the IP and hostname information into /etc/hosts file on all the machines
Your commander (laptop) is able to SSH to all robots via public key (instead of password)
Onboard computers are able to get access to the microcontroller via serial post (add user to dialout group)

For detailed information regarding how to set up the whole system, please refer to the wiki page.

Moreover, there are two suggestions which is not necessary for this system but may be useful for your development.

You may install a teamviewer software on your laptop and robots so that you can remote login into your onboard computers.
For IDE, I recommend RoboWare Studio, which is especially designed for ROS developers. Another alternative is KDevelop, which is a cross-platform IDE.

Package Dependencies

Before git clone this repository, you need to install ARIA lib and git clone ROSARIA package first. After that, catkin_make your ROSARIA package with ARIA library. Then, you can clone this repository by git clone https://github.com/hanzheteng/pioneer_mrs.git and catkin_make this package in your workspace.

Notice:

You must catkin_make the ROSARIA package first before you clone and make this package, otherwise it may report errors.
Sometimes you need to catkin_make pioneer_mrs_generate_messages first before catkin_make this package, because the compiler may not be able to find the header file of our messages.

Optional package:

If you want to use VICON motion capture system, you also need to git clone and catkin_make vicon_bridge package.

Sample Usage

Basically there are several steps:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch
launch nodes on commander roslaunch pioneer_mrs commander.launch

If using Vicon:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=vicon
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.2 Running on MobileSim Simulator

You also need ROSARIA package to connect to MobileSim simulator. Moreover, you need to install MobileSim on your laptop.

Basically there are several steps:

run a MobileSim simulator and spawn five robots roslaunch pioneer_mrs mobilesim.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch machine:=mobilesim
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.3 Running on Gazebo Simulator

You do not need ROSARIA package here, since Gazebo will take charge of publishing odom information and dealing with cmd_vel commands. Gazebo is installed by default along with ROS if choosing desktop-full install. Moreover, for simulations of Pioneer 3-AT robots, you also need models and URDF files supplied by Mobile Robots Inc. by git clone amr-ros-config meta-package.

Basically there are several steps:

run a Gazebo simulator and spawn five robots roslaunch pioneer_mrs gazebo.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=gazebo machine:=gazebo
launch nodes on commander roslaunch pioneer_mrs commander.launch

Notice: On real robots, movement commands only execute for 600ms because of WatchDog timeout mechanism; but in gazebo simulator, robots will keep moving towards the last direction. You may press space bar (stop command) to stop it.

2.4 Single Robot Recoverary

Optional launch file (e.g. robot1):

launch one robot roslaunch pioneer_mrs single-robot.launch hostname:=robot1
launch one robot with Vicon roslaunch pioneer_mrs single-robot.launch hostname:=robot1 pose:=vicon
launch one robot on MobileSim simulator

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	catkin
	gazebo_ros
	xacro
	message_runtime
	roscpp
	rospy
	std_msgs
	nav_msgs
	tf
	geometry_msgs
	message_generation
	dynamic_reconfigure
	actionlib
	actionlib_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/commander.launch
launch/gazebo.launch
- - world_name [default: worlds/empty.world]
  - urdf [default: $(find pioneer_mrs)/config/pioneer3at.urdf]
  - r1 [default: -model robot1 -robot_namespace robot1/gazebo -x 0 -y 2]
  - r2 [default: -model robot2 -robot_namespace robot2/gazebo -x 0 -y 1]
  - r3 [default: -model robot3 -robot_namespace robot3/gazebo -x 0 -y 0]
  - r4 [default: -model robot4 -robot_namespace robot4/gazebo -x 0 -y -1]
  - r5 [default: -model robot5 -robot_namespace robot5/gazebo -x 0 -y -2]
launch/mobilesim.launch
launch/multi-robot.launch
- - hostname
  - machine [default: remote]
  - pose [default: odom]
  - port
launch/single-robot.launch
- - hostname [default: robot1]
  - machine [default: remote]
  - pose [default: odom]
  - port
config/robot.xml
- - hostname [default: robot1]
  - machine [default: commander]
  - pose [default: odom]
  - port [default: /dev/ttyS0]
config/vicon.xml

Messages

Services

srv/Pose2D.srv

Plugins

No plugins found.

Recent questions tagged `pioneer_mrs` at Robotics Stack Exchange

API Docs Browse Code

No version for distro kilted showing kinetic. Known supported distros are highlighted in the buttons above.

pioneer_mrs package from pioneer_mrs repo

pioneer_mrs

ROS Distro
kinetic

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	1.4.0
License	MIT
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/hanzheteng/pioneer_mrs.git
VCS Type	git
VCS Version	master
Last Updated	2020-03-04
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The pioneer_mrs ROS package for Pioneer 3-AT Multi-Robot Systems

Additional Links

Maintainers

Hanzhe Teng

Authors

Hanzhe Teng

README.md

pioneer_mrs

1. Introduction

A ROS package for Pioneer 3-AT Multi-Robot Systems.

This is a flexible experimental platform for multi-robot systems (MRS). Should there be any problem, please feel free to contact maintainer @hanzheteng or open a new issue in this repository.

ROS package	Description (Features)	Platform
pioneer_mrs	Support scientific computing library (numpy, scipy, etc.) for your algorithms Support two kinds of localization methods (odometry, VICON) Support two kinds of robot-level simulators (MobileSim, Gazebo) Visualization is under developing	Pioneer 3-AT Ubuntu 16.04.3 LTS Robot Operating System (kinetic) ROSARIA package (git-commit-aa8d5f7) ARIA lib (2.9.1a-ubuntu16-i386)

2. Usage

2.1 Running on Robots

System Configuration

Before using this package to drive your robots, you may configure your platform following the steps:

All machines (5 robots + 1 laptop) are installed Ubuntu 16.04 and ROS Kinetic
All robots (onboard computer, actually) are installed and catkin_make-ed ARIA lib and ROSARIA package
All machines need a static IP address and are able to automatically connect to your local WiFi
Write the IP and hostname information into /etc/hosts file on all the machines
Your commander (laptop) is able to SSH to all robots via public key (instead of password)
Onboard computers are able to get access to the microcontroller via serial post (add user to dialout group)

For detailed information regarding how to set up the whole system, please refer to the wiki page.

Moreover, there are two suggestions which is not necessary for this system but may be useful for your development.

You may install a teamviewer software on your laptop and robots so that you can remote login into your onboard computers.
For IDE, I recommend RoboWare Studio, which is especially designed for ROS developers. Another alternative is KDevelop, which is a cross-platform IDE.

Package Dependencies

Before git clone this repository, you need to install ARIA lib and git clone ROSARIA package first. After that, catkin_make your ROSARIA package with ARIA library. Then, you can clone this repository by git clone https://github.com/hanzheteng/pioneer_mrs.git and catkin_make this package in your workspace.

Notice:

You must catkin_make the ROSARIA package first before you clone and make this package, otherwise it may report errors.
Sometimes you need to catkin_make pioneer_mrs_generate_messages first before catkin_make this package, because the compiler may not be able to find the header file of our messages.

Optional package:

If you want to use VICON motion capture system, you also need to git clone and catkin_make vicon_bridge package.

Sample Usage

Basically there are several steps:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch
launch nodes on commander roslaunch pioneer_mrs commander.launch

If using Vicon:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=vicon
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.2 Running on MobileSim Simulator

You also need ROSARIA package to connect to MobileSim simulator. Moreover, you need to install MobileSim on your laptop.

Basically there are several steps:

run a MobileSim simulator and spawn five robots roslaunch pioneer_mrs mobilesim.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch machine:=mobilesim
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.3 Running on Gazebo Simulator

You do not need ROSARIA package here, since Gazebo will take charge of publishing odom information and dealing with cmd_vel commands. Gazebo is installed by default along with ROS if choosing desktop-full install. Moreover, for simulations of Pioneer 3-AT robots, you also need models and URDF files supplied by Mobile Robots Inc. by git clone amr-ros-config meta-package.

Basically there are several steps:

run a Gazebo simulator and spawn five robots roslaunch pioneer_mrs gazebo.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=gazebo machine:=gazebo
launch nodes on commander roslaunch pioneer_mrs commander.launch

Notice: On real robots, movement commands only execute for 600ms because of WatchDog timeout mechanism; but in gazebo simulator, robots will keep moving towards the last direction. You may press space bar (stop command) to stop it.

2.4 Single Robot Recoverary

Optional launch file (e.g. robot1):

launch one robot roslaunch pioneer_mrs single-robot.launch hostname:=robot1
launch one robot with Vicon roslaunch pioneer_mrs single-robot.launch hostname:=robot1 pose:=vicon
launch one robot on MobileSim simulator

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	catkin
	gazebo_ros
	xacro
	message_runtime
	roscpp
	rospy
	std_msgs
	nav_msgs
	tf
	geometry_msgs
	message_generation
	dynamic_reconfigure
	actionlib
	actionlib_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/commander.launch
launch/gazebo.launch
- - world_name [default: worlds/empty.world]
  - urdf [default: $(find pioneer_mrs)/config/pioneer3at.urdf]
  - r1 [default: -model robot1 -robot_namespace robot1/gazebo -x 0 -y 2]
  - r2 [default: -model robot2 -robot_namespace robot2/gazebo -x 0 -y 1]
  - r3 [default: -model robot3 -robot_namespace robot3/gazebo -x 0 -y 0]
  - r4 [default: -model robot4 -robot_namespace robot4/gazebo -x 0 -y -1]
  - r5 [default: -model robot5 -robot_namespace robot5/gazebo -x 0 -y -2]
launch/mobilesim.launch
launch/multi-robot.launch
- - hostname
  - machine [default: remote]
  - pose [default: odom]
  - port
launch/single-robot.launch
- - hostname [default: robot1]
  - machine [default: remote]
  - pose [default: odom]
  - port
config/robot.xml
- - hostname [default: robot1]
  - machine [default: commander]
  - pose [default: odom]
  - port [default: /dev/ttyS0]
config/vicon.xml

Messages

Services

srv/Pose2D.srv

Plugins

No plugins found.

Recent questions tagged `pioneer_mrs` at Robotics Stack Exchange

API Docs Browse Code

No version for distro rolling showing kinetic. Known supported distros are highlighted in the buttons above.

pioneer_mrs package from pioneer_mrs repo

pioneer_mrs

ROS Distro
kinetic

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	1.4.0
License	MIT
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/hanzheteng/pioneer_mrs.git
VCS Type	git
VCS Version	master
Last Updated	2020-03-04
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The pioneer_mrs ROS package for Pioneer 3-AT Multi-Robot Systems

Additional Links

Maintainers

Hanzhe Teng

Authors

Hanzhe Teng

README.md

pioneer_mrs

1. Introduction

A ROS package for Pioneer 3-AT Multi-Robot Systems.

This is a flexible experimental platform for multi-robot systems (MRS). Should there be any problem, please feel free to contact maintainer @hanzheteng or open a new issue in this repository.

ROS package	Description (Features)	Platform
pioneer_mrs	Support scientific computing library (numpy, scipy, etc.) for your algorithms Support two kinds of localization methods (odometry, VICON) Support two kinds of robot-level simulators (MobileSim, Gazebo) Visualization is under developing	Pioneer 3-AT Ubuntu 16.04.3 LTS Robot Operating System (kinetic) ROSARIA package (git-commit-aa8d5f7) ARIA lib (2.9.1a-ubuntu16-i386)

2. Usage

2.1 Running on Robots

System Configuration

Before using this package to drive your robots, you may configure your platform following the steps:

All machines (5 robots + 1 laptop) are installed Ubuntu 16.04 and ROS Kinetic
All robots (onboard computer, actually) are installed and catkin_make-ed ARIA lib and ROSARIA package
All machines need a static IP address and are able to automatically connect to your local WiFi
Write the IP and hostname information into /etc/hosts file on all the machines
Your commander (laptop) is able to SSH to all robots via public key (instead of password)
Onboard computers are able to get access to the microcontroller via serial post (add user to dialout group)

For detailed information regarding how to set up the whole system, please refer to the wiki page.

Moreover, there are two suggestions which is not necessary for this system but may be useful for your development.

You may install a teamviewer software on your laptop and robots so that you can remote login into your onboard computers.
For IDE, I recommend RoboWare Studio, which is especially designed for ROS developers. Another alternative is KDevelop, which is a cross-platform IDE.

Package Dependencies

Before git clone this repository, you need to install ARIA lib and git clone ROSARIA package first. After that, catkin_make your ROSARIA package with ARIA library. Then, you can clone this repository by git clone https://github.com/hanzheteng/pioneer_mrs.git and catkin_make this package in your workspace.

Notice:

You must catkin_make the ROSARIA package first before you clone and make this package, otherwise it may report errors.
Sometimes you need to catkin_make pioneer_mrs_generate_messages first before catkin_make this package, because the compiler may not be able to find the header file of our messages.

Optional package:

If you want to use VICON motion capture system, you also need to git clone and catkin_make vicon_bridge package.

Sample Usage

Basically there are several steps:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch
launch nodes on commander roslaunch pioneer_mrs commander.launch

If using Vicon:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=vicon
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.2 Running on MobileSim Simulator

You also need ROSARIA package to connect to MobileSim simulator. Moreover, you need to install MobileSim on your laptop.

Basically there are several steps:

run a MobileSim simulator and spawn five robots roslaunch pioneer_mrs mobilesim.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch machine:=mobilesim
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.3 Running on Gazebo Simulator

You do not need ROSARIA package here, since Gazebo will take charge of publishing odom information and dealing with cmd_vel commands. Gazebo is installed by default along with ROS if choosing desktop-full install. Moreover, for simulations of Pioneer 3-AT robots, you also need models and URDF files supplied by Mobile Robots Inc. by git clone amr-ros-config meta-package.

Basically there are several steps:

run a Gazebo simulator and spawn five robots roslaunch pioneer_mrs gazebo.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=gazebo machine:=gazebo
launch nodes on commander roslaunch pioneer_mrs commander.launch

Notice: On real robots, movement commands only execute for 600ms because of WatchDog timeout mechanism; but in gazebo simulator, robots will keep moving towards the last direction. You may press space bar (stop command) to stop it.

2.4 Single Robot Recoverary

Optional launch file (e.g. robot1):

launch one robot roslaunch pioneer_mrs single-robot.launch hostname:=robot1
launch one robot with Vicon roslaunch pioneer_mrs single-robot.launch hostname:=robot1 pose:=vicon
launch one robot on MobileSim simulator

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	catkin
	gazebo_ros
	xacro
	message_runtime
	roscpp
	rospy
	std_msgs
	nav_msgs
	tf
	geometry_msgs
	message_generation
	dynamic_reconfigure
	actionlib
	actionlib_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/commander.launch
launch/gazebo.launch
- - world_name [default: worlds/empty.world]
  - urdf [default: $(find pioneer_mrs)/config/pioneer3at.urdf]
  - r1 [default: -model robot1 -robot_namespace robot1/gazebo -x 0 -y 2]
  - r2 [default: -model robot2 -robot_namespace robot2/gazebo -x 0 -y 1]
  - r3 [default: -model robot3 -robot_namespace robot3/gazebo -x 0 -y 0]
  - r4 [default: -model robot4 -robot_namespace robot4/gazebo -x 0 -y -1]
  - r5 [default: -model robot5 -robot_namespace robot5/gazebo -x 0 -y -2]
launch/mobilesim.launch
launch/multi-robot.launch
- - hostname
  - machine [default: remote]
  - pose [default: odom]
  - port
launch/single-robot.launch
- - hostname [default: robot1]
  - machine [default: remote]
  - pose [default: odom]
  - port
config/robot.xml
- - hostname [default: robot1]
  - machine [default: commander]
  - pose [default: odom]
  - port [default: /dev/ttyS0]
config/vicon.xml

Messages

Services

srv/Pose2D.srv

Plugins

No plugins found.

Recent questions tagged `pioneer_mrs` at Robotics Stack Exchange

API Docs Browse Code

No version for distro ardent showing kinetic. Known supported distros are highlighted in the buttons above.

pioneer_mrs package from pioneer_mrs repo

pioneer_mrs

ROS Distro
kinetic

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	1.4.0
License	MIT
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/hanzheteng/pioneer_mrs.git
VCS Type	git
VCS Version	master
Last Updated	2020-03-04
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The pioneer_mrs ROS package for Pioneer 3-AT Multi-Robot Systems

Additional Links

Maintainers

Hanzhe Teng

Authors

Hanzhe Teng

README.md

pioneer_mrs

1. Introduction

A ROS package for Pioneer 3-AT Multi-Robot Systems.

This is a flexible experimental platform for multi-robot systems (MRS). Should there be any problem, please feel free to contact maintainer @hanzheteng or open a new issue in this repository.

ROS package	Description (Features)	Platform
pioneer_mrs	Support scientific computing library (numpy, scipy, etc.) for your algorithms Support two kinds of localization methods (odometry, VICON) Support two kinds of robot-level simulators (MobileSim, Gazebo) Visualization is under developing	Pioneer 3-AT Ubuntu 16.04.3 LTS Robot Operating System (kinetic) ROSARIA package (git-commit-aa8d5f7) ARIA lib (2.9.1a-ubuntu16-i386)

2. Usage

2.1 Running on Robots

System Configuration

Before using this package to drive your robots, you may configure your platform following the steps:

All machines (5 robots + 1 laptop) are installed Ubuntu 16.04 and ROS Kinetic
All robots (onboard computer, actually) are installed and catkin_make-ed ARIA lib and ROSARIA package
All machines need a static IP address and are able to automatically connect to your local WiFi
Write the IP and hostname information into /etc/hosts file on all the machines
Your commander (laptop) is able to SSH to all robots via public key (instead of password)
Onboard computers are able to get access to the microcontroller via serial post (add user to dialout group)

For detailed information regarding how to set up the whole system, please refer to the wiki page.

Moreover, there are two suggestions which is not necessary for this system but may be useful for your development.

You may install a teamviewer software on your laptop and robots so that you can remote login into your onboard computers.
For IDE, I recommend RoboWare Studio, which is especially designed for ROS developers. Another alternative is KDevelop, which is a cross-platform IDE.

Package Dependencies

Before git clone this repository, you need to install ARIA lib and git clone ROSARIA package first. After that, catkin_make your ROSARIA package with ARIA library. Then, you can clone this repository by git clone https://github.com/hanzheteng/pioneer_mrs.git and catkin_make this package in your workspace.

Notice:

You must catkin_make the ROSARIA package first before you clone and make this package, otherwise it may report errors.
Sometimes you need to catkin_make pioneer_mrs_generate_messages first before catkin_make this package, because the compiler may not be able to find the header file of our messages.

Optional package:

If you want to use VICON motion capture system, you also need to git clone and catkin_make vicon_bridge package.

Sample Usage

Basically there are several steps:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch
launch nodes on commander roslaunch pioneer_mrs commander.launch

If using Vicon:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=vicon
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.2 Running on MobileSim Simulator

You also need ROSARIA package to connect to MobileSim simulator. Moreover, you need to install MobileSim on your laptop.

Basically there are several steps:

run a MobileSim simulator and spawn five robots roslaunch pioneer_mrs mobilesim.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch machine:=mobilesim
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.3 Running on Gazebo Simulator

You do not need ROSARIA package here, since Gazebo will take charge of publishing odom information and dealing with cmd_vel commands. Gazebo is installed by default along with ROS if choosing desktop-full install. Moreover, for simulations of Pioneer 3-AT robots, you also need models and URDF files supplied by Mobile Robots Inc. by git clone amr-ros-config meta-package.

Basically there are several steps:

run a Gazebo simulator and spawn five robots roslaunch pioneer_mrs gazebo.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=gazebo machine:=gazebo
launch nodes on commander roslaunch pioneer_mrs commander.launch

Notice: On real robots, movement commands only execute for 600ms because of WatchDog timeout mechanism; but in gazebo simulator, robots will keep moving towards the last direction. You may press space bar (stop command) to stop it.

2.4 Single Robot Recoverary

Optional launch file (e.g. robot1):

launch one robot roslaunch pioneer_mrs single-robot.launch hostname:=robot1
launch one robot with Vicon roslaunch pioneer_mrs single-robot.launch hostname:=robot1 pose:=vicon
launch one robot on MobileSim simulator

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	catkin
	gazebo_ros
	xacro
	message_runtime
	roscpp
	rospy
	std_msgs
	nav_msgs
	tf
	geometry_msgs
	message_generation
	dynamic_reconfigure
	actionlib
	actionlib_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/commander.launch
launch/gazebo.launch
- - world_name [default: worlds/empty.world]
  - urdf [default: $(find pioneer_mrs)/config/pioneer3at.urdf]
  - r1 [default: -model robot1 -robot_namespace robot1/gazebo -x 0 -y 2]
  - r2 [default: -model robot2 -robot_namespace robot2/gazebo -x 0 -y 1]
  - r3 [default: -model robot3 -robot_namespace robot3/gazebo -x 0 -y 0]
  - r4 [default: -model robot4 -robot_namespace robot4/gazebo -x 0 -y -1]
  - r5 [default: -model robot5 -robot_namespace robot5/gazebo -x 0 -y -2]
launch/mobilesim.launch
launch/multi-robot.launch
- - hostname
  - machine [default: remote]
  - pose [default: odom]
  - port
launch/single-robot.launch
- - hostname [default: robot1]
  - machine [default: remote]
  - pose [default: odom]
  - port
config/robot.xml
- - hostname [default: robot1]
  - machine [default: commander]
  - pose [default: odom]
  - port [default: /dev/ttyS0]
config/vicon.xml

Messages

Services

srv/Pose2D.srv

Plugins

No plugins found.

Recent questions tagged `pioneer_mrs` at Robotics Stack Exchange

API Docs Browse Code

No version for distro bouncy showing kinetic. Known supported distros are highlighted in the buttons above.

pioneer_mrs package from pioneer_mrs repo

pioneer_mrs

ROS Distro
kinetic

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	1.4.0
License	MIT
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/hanzheteng/pioneer_mrs.git
VCS Type	git
VCS Version	master
Last Updated	2020-03-04
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The pioneer_mrs ROS package for Pioneer 3-AT Multi-Robot Systems

Additional Links

Maintainers

Hanzhe Teng

Authors

Hanzhe Teng

README.md

pioneer_mrs

1. Introduction

A ROS package for Pioneer 3-AT Multi-Robot Systems.

This is a flexible experimental platform for multi-robot systems (MRS). Should there be any problem, please feel free to contact maintainer @hanzheteng or open a new issue in this repository.

ROS package	Description (Features)	Platform
pioneer_mrs	Support scientific computing library (numpy, scipy, etc.) for your algorithms Support two kinds of localization methods (odometry, VICON) Support two kinds of robot-level simulators (MobileSim, Gazebo) Visualization is under developing	Pioneer 3-AT Ubuntu 16.04.3 LTS Robot Operating System (kinetic) ROSARIA package (git-commit-aa8d5f7) ARIA lib (2.9.1a-ubuntu16-i386)

2. Usage

2.1 Running on Robots

System Configuration

Before using this package to drive your robots, you may configure your platform following the steps:

All machines (5 robots + 1 laptop) are installed Ubuntu 16.04 and ROS Kinetic
All robots (onboard computer, actually) are installed and catkin_make-ed ARIA lib and ROSARIA package
All machines need a static IP address and are able to automatically connect to your local WiFi
Write the IP and hostname information into /etc/hosts file on all the machines
Your commander (laptop) is able to SSH to all robots via public key (instead of password)
Onboard computers are able to get access to the microcontroller via serial post (add user to dialout group)

For detailed information regarding how to set up the whole system, please refer to the wiki page.

Moreover, there are two suggestions which is not necessary for this system but may be useful for your development.

You may install a teamviewer software on your laptop and robots so that you can remote login into your onboard computers.
For IDE, I recommend RoboWare Studio, which is especially designed for ROS developers. Another alternative is KDevelop, which is a cross-platform IDE.

Package Dependencies

Before git clone this repository, you need to install ARIA lib and git clone ROSARIA package first. After that, catkin_make your ROSARIA package with ARIA library. Then, you can clone this repository by git clone https://github.com/hanzheteng/pioneer_mrs.git and catkin_make this package in your workspace.

Notice:

You must catkin_make the ROSARIA package first before you clone and make this package, otherwise it may report errors.
Sometimes you need to catkin_make pioneer_mrs_generate_messages first before catkin_make this package, because the compiler may not be able to find the header file of our messages.

Optional package:

If you want to use VICON motion capture system, you also need to git clone and catkin_make vicon_bridge package.

Sample Usage

Basically there are several steps:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch
launch nodes on commander roslaunch pioneer_mrs commander.launch

If using Vicon:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=vicon
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.2 Running on MobileSim Simulator

You also need ROSARIA package to connect to MobileSim simulator. Moreover, you need to install MobileSim on your laptop.

Basically there are several steps:

run a MobileSim simulator and spawn five robots roslaunch pioneer_mrs mobilesim.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch machine:=mobilesim
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.3 Running on Gazebo Simulator

You do not need ROSARIA package here, since Gazebo will take charge of publishing odom information and dealing with cmd_vel commands. Gazebo is installed by default along with ROS if choosing desktop-full install. Moreover, for simulations of Pioneer 3-AT robots, you also need models and URDF files supplied by Mobile Robots Inc. by git clone amr-ros-config meta-package.

Basically there are several steps:

run a Gazebo simulator and spawn five robots roslaunch pioneer_mrs gazebo.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=gazebo machine:=gazebo
launch nodes on commander roslaunch pioneer_mrs commander.launch

Notice: On real robots, movement commands only execute for 600ms because of WatchDog timeout mechanism; but in gazebo simulator, robots will keep moving towards the last direction. You may press space bar (stop command) to stop it.

2.4 Single Robot Recoverary

Optional launch file (e.g. robot1):

launch one robot roslaunch pioneer_mrs single-robot.launch hostname:=robot1
launch one robot with Vicon roslaunch pioneer_mrs single-robot.launch hostname:=robot1 pose:=vicon
launch one robot on MobileSim simulator

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	catkin
	gazebo_ros
	xacro
	message_runtime
	roscpp
	rospy
	std_msgs
	nav_msgs
	tf
	geometry_msgs
	message_generation
	dynamic_reconfigure
	actionlib
	actionlib_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/commander.launch
launch/gazebo.launch
- - world_name [default: worlds/empty.world]
  - urdf [default: $(find pioneer_mrs)/config/pioneer3at.urdf]
  - r1 [default: -model robot1 -robot_namespace robot1/gazebo -x 0 -y 2]
  - r2 [default: -model robot2 -robot_namespace robot2/gazebo -x 0 -y 1]
  - r3 [default: -model robot3 -robot_namespace robot3/gazebo -x 0 -y 0]
  - r4 [default: -model robot4 -robot_namespace robot4/gazebo -x 0 -y -1]
  - r5 [default: -model robot5 -robot_namespace robot5/gazebo -x 0 -y -2]
launch/mobilesim.launch
launch/multi-robot.launch
- - hostname
  - machine [default: remote]
  - pose [default: odom]
  - port
launch/single-robot.launch
- - hostname [default: robot1]
  - machine [default: remote]
  - pose [default: odom]
  - port
config/robot.xml
- - hostname [default: robot1]
  - machine [default: commander]
  - pose [default: odom]
  - port [default: /dev/ttyS0]
config/vicon.xml

Messages

Services

srv/Pose2D.srv

Plugins

No plugins found.

Recent questions tagged `pioneer_mrs` at Robotics Stack Exchange

API Docs Browse Code

No version for distro crystal showing kinetic. Known supported distros are highlighted in the buttons above.

pioneer_mrs package from pioneer_mrs repo

pioneer_mrs

ROS Distro
kinetic

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	1.4.0
License	MIT
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/hanzheteng/pioneer_mrs.git
VCS Type	git
VCS Version	master
Last Updated	2020-03-04
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The pioneer_mrs ROS package for Pioneer 3-AT Multi-Robot Systems

Additional Links

Maintainers

Hanzhe Teng

Authors

Hanzhe Teng

README.md

pioneer_mrs

1. Introduction

A ROS package for Pioneer 3-AT Multi-Robot Systems.

This is a flexible experimental platform for multi-robot systems (MRS). Should there be any problem, please feel free to contact maintainer @hanzheteng or open a new issue in this repository.

ROS package	Description (Features)	Platform
pioneer_mrs	Support scientific computing library (numpy, scipy, etc.) for your algorithms Support two kinds of localization methods (odometry, VICON) Support two kinds of robot-level simulators (MobileSim, Gazebo) Visualization is under developing	Pioneer 3-AT Ubuntu 16.04.3 LTS Robot Operating System (kinetic) ROSARIA package (git-commit-aa8d5f7) ARIA lib (2.9.1a-ubuntu16-i386)

2. Usage

2.1 Running on Robots

System Configuration

Before using this package to drive your robots, you may configure your platform following the steps:

All machines (5 robots + 1 laptop) are installed Ubuntu 16.04 and ROS Kinetic
All robots (onboard computer, actually) are installed and catkin_make-ed ARIA lib and ROSARIA package
All machines need a static IP address and are able to automatically connect to your local WiFi
Write the IP and hostname information into /etc/hosts file on all the machines
Your commander (laptop) is able to SSH to all robots via public key (instead of password)
Onboard computers are able to get access to the microcontroller via serial post (add user to dialout group)

For detailed information regarding how to set up the whole system, please refer to the wiki page.

Moreover, there are two suggestions which is not necessary for this system but may be useful for your development.

You may install a teamviewer software on your laptop and robots so that you can remote login into your onboard computers.
For IDE, I recommend RoboWare Studio, which is especially designed for ROS developers. Another alternative is KDevelop, which is a cross-platform IDE.

Package Dependencies

Before git clone this repository, you need to install ARIA lib and git clone ROSARIA package first. After that, catkin_make your ROSARIA package with ARIA library. Then, you can clone this repository by git clone https://github.com/hanzheteng/pioneer_mrs.git and catkin_make this package in your workspace.

Notice:

You must catkin_make the ROSARIA package first before you clone and make this package, otherwise it may report errors.
Sometimes you need to catkin_make pioneer_mrs_generate_messages first before catkin_make this package, because the compiler may not be able to find the header file of our messages.

Optional package:

If you want to use VICON motion capture system, you also need to git clone and catkin_make vicon_bridge package.

Sample Usage

Basically there are several steps:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch
launch nodes on commander roslaunch pioneer_mrs commander.launch

If using Vicon:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=vicon
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.2 Running on MobileSim Simulator

You also need ROSARIA package to connect to MobileSim simulator. Moreover, you need to install MobileSim on your laptop.

Basically there are several steps:

run a MobileSim simulator and spawn five robots roslaunch pioneer_mrs mobilesim.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch machine:=mobilesim
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.3 Running on Gazebo Simulator

You do not need ROSARIA package here, since Gazebo will take charge of publishing odom information and dealing with cmd_vel commands. Gazebo is installed by default along with ROS if choosing desktop-full install. Moreover, for simulations of Pioneer 3-AT robots, you also need models and URDF files supplied by Mobile Robots Inc. by git clone amr-ros-config meta-package.

Basically there are several steps:

run a Gazebo simulator and spawn five robots roslaunch pioneer_mrs gazebo.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=gazebo machine:=gazebo
launch nodes on commander roslaunch pioneer_mrs commander.launch

Notice: On real robots, movement commands only execute for 600ms because of WatchDog timeout mechanism; but in gazebo simulator, robots will keep moving towards the last direction. You may press space bar (stop command) to stop it.

2.4 Single Robot Recoverary

Optional launch file (e.g. robot1):

launch one robot roslaunch pioneer_mrs single-robot.launch hostname:=robot1
launch one robot with Vicon roslaunch pioneer_mrs single-robot.launch hostname:=robot1 pose:=vicon
launch one robot on MobileSim simulator

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	catkin
	gazebo_ros
	xacro
	message_runtime
	roscpp
	rospy
	std_msgs
	nav_msgs
	tf
	geometry_msgs
	message_generation
	dynamic_reconfigure
	actionlib
	actionlib_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/commander.launch
launch/gazebo.launch
- - world_name [default: worlds/empty.world]
  - urdf [default: $(find pioneer_mrs)/config/pioneer3at.urdf]
  - r1 [default: -model robot1 -robot_namespace robot1/gazebo -x 0 -y 2]
  - r2 [default: -model robot2 -robot_namespace robot2/gazebo -x 0 -y 1]
  - r3 [default: -model robot3 -robot_namespace robot3/gazebo -x 0 -y 0]
  - r4 [default: -model robot4 -robot_namespace robot4/gazebo -x 0 -y -1]
  - r5 [default: -model robot5 -robot_namespace robot5/gazebo -x 0 -y -2]
launch/mobilesim.launch
launch/multi-robot.launch
- - hostname
  - machine [default: remote]
  - pose [default: odom]
  - port
launch/single-robot.launch
- - hostname [default: robot1]
  - machine [default: remote]
  - pose [default: odom]
  - port
config/robot.xml
- - hostname [default: robot1]
  - machine [default: commander]
  - pose [default: odom]
  - port [default: /dev/ttyS0]
config/vicon.xml

Messages

Services

srv/Pose2D.srv

Plugins

No plugins found.

Recent questions tagged `pioneer_mrs` at Robotics Stack Exchange

API Docs Browse Code

No version for distro eloquent showing kinetic. Known supported distros are highlighted in the buttons above.

pioneer_mrs package from pioneer_mrs repo

pioneer_mrs

ROS Distro
kinetic

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	1.4.0
License	MIT
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/hanzheteng/pioneer_mrs.git
VCS Type	git
VCS Version	master
Last Updated	2020-03-04
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The pioneer_mrs ROS package for Pioneer 3-AT Multi-Robot Systems

Additional Links

Maintainers

Hanzhe Teng

Authors

Hanzhe Teng

README.md

pioneer_mrs

1. Introduction

A ROS package for Pioneer 3-AT Multi-Robot Systems.

This is a flexible experimental platform for multi-robot systems (MRS). Should there be any problem, please feel free to contact maintainer @hanzheteng or open a new issue in this repository.

ROS package	Description (Features)	Platform
pioneer_mrs	Support scientific computing library (numpy, scipy, etc.) for your algorithms Support two kinds of localization methods (odometry, VICON) Support two kinds of robot-level simulators (MobileSim, Gazebo) Visualization is under developing	Pioneer 3-AT Ubuntu 16.04.3 LTS Robot Operating System (kinetic) ROSARIA package (git-commit-aa8d5f7) ARIA lib (2.9.1a-ubuntu16-i386)

2. Usage

2.1 Running on Robots

System Configuration

Before using this package to drive your robots, you may configure your platform following the steps:

All machines (5 robots + 1 laptop) are installed Ubuntu 16.04 and ROS Kinetic
All robots (onboard computer, actually) are installed and catkin_make-ed ARIA lib and ROSARIA package
All machines need a static IP address and are able to automatically connect to your local WiFi
Write the IP and hostname information into /etc/hosts file on all the machines
Your commander (laptop) is able to SSH to all robots via public key (instead of password)
Onboard computers are able to get access to the microcontroller via serial post (add user to dialout group)

For detailed information regarding how to set up the whole system, please refer to the wiki page.

Moreover, there are two suggestions which is not necessary for this system but may be useful for your development.

You may install a teamviewer software on your laptop and robots so that you can remote login into your onboard computers.
For IDE, I recommend RoboWare Studio, which is especially designed for ROS developers. Another alternative is KDevelop, which is a cross-platform IDE.

Package Dependencies

Before git clone this repository, you need to install ARIA lib and git clone ROSARIA package first. After that, catkin_make your ROSARIA package with ARIA library. Then, you can clone this repository by git clone https://github.com/hanzheteng/pioneer_mrs.git and catkin_make this package in your workspace.

Notice:

You must catkin_make the ROSARIA package first before you clone and make this package, otherwise it may report errors.
Sometimes you need to catkin_make pioneer_mrs_generate_messages first before catkin_make this package, because the compiler may not be able to find the header file of our messages.

Optional package:

If you want to use VICON motion capture system, you also need to git clone and catkin_make vicon_bridge package.

Sample Usage

Basically there are several steps:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch
launch nodes on commander roslaunch pioneer_mrs commander.launch

If using Vicon:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=vicon
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.2 Running on MobileSim Simulator

You also need ROSARIA package to connect to MobileSim simulator. Moreover, you need to install MobileSim on your laptop.

Basically there are several steps:

run a MobileSim simulator and spawn five robots roslaunch pioneer_mrs mobilesim.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch machine:=mobilesim
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.3 Running on Gazebo Simulator

You do not need ROSARIA package here, since Gazebo will take charge of publishing odom information and dealing with cmd_vel commands. Gazebo is installed by default along with ROS if choosing desktop-full install. Moreover, for simulations of Pioneer 3-AT robots, you also need models and URDF files supplied by Mobile Robots Inc. by git clone amr-ros-config meta-package.

Basically there are several steps:

run a Gazebo simulator and spawn five robots roslaunch pioneer_mrs gazebo.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=gazebo machine:=gazebo
launch nodes on commander roslaunch pioneer_mrs commander.launch

Notice: On real robots, movement commands only execute for 600ms because of WatchDog timeout mechanism; but in gazebo simulator, robots will keep moving towards the last direction. You may press space bar (stop command) to stop it.

2.4 Single Robot Recoverary

Optional launch file (e.g. robot1):

launch one robot roslaunch pioneer_mrs single-robot.launch hostname:=robot1
launch one robot with Vicon roslaunch pioneer_mrs single-robot.launch hostname:=robot1 pose:=vicon
launch one robot on MobileSim simulator

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	catkin
	gazebo_ros
	xacro
	message_runtime
	roscpp
	rospy
	std_msgs
	nav_msgs
	tf
	geometry_msgs
	message_generation
	dynamic_reconfigure
	actionlib
	actionlib_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/commander.launch
launch/gazebo.launch
- - world_name [default: worlds/empty.world]
  - urdf [default: $(find pioneer_mrs)/config/pioneer3at.urdf]
  - r1 [default: -model robot1 -robot_namespace robot1/gazebo -x 0 -y 2]
  - r2 [default: -model robot2 -robot_namespace robot2/gazebo -x 0 -y 1]
  - r3 [default: -model robot3 -robot_namespace robot3/gazebo -x 0 -y 0]
  - r4 [default: -model robot4 -robot_namespace robot4/gazebo -x 0 -y -1]
  - r5 [default: -model robot5 -robot_namespace robot5/gazebo -x 0 -y -2]
launch/mobilesim.launch
launch/multi-robot.launch
- - hostname
  - machine [default: remote]
  - pose [default: odom]
  - port
launch/single-robot.launch
- - hostname [default: robot1]
  - machine [default: remote]
  - pose [default: odom]
  - port
config/robot.xml
- - hostname [default: robot1]
  - machine [default: commander]
  - pose [default: odom]
  - port [default: /dev/ttyS0]
config/vicon.xml

Messages

Services

srv/Pose2D.srv

Plugins

No plugins found.

Recent questions tagged `pioneer_mrs` at Robotics Stack Exchange

API Docs Browse Code

No version for distro dashing showing kinetic. Known supported distros are highlighted in the buttons above.

pioneer_mrs package from pioneer_mrs repo

pioneer_mrs

ROS Distro
kinetic

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	1.4.0
License	MIT
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/hanzheteng/pioneer_mrs.git
VCS Type	git
VCS Version	master
Last Updated	2020-03-04
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The pioneer_mrs ROS package for Pioneer 3-AT Multi-Robot Systems

Additional Links

Maintainers

Hanzhe Teng

Authors

Hanzhe Teng

README.md

pioneer_mrs

1. Introduction

A ROS package for Pioneer 3-AT Multi-Robot Systems.

This is a flexible experimental platform for multi-robot systems (MRS). Should there be any problem, please feel free to contact maintainer @hanzheteng or open a new issue in this repository.

ROS package	Description (Features)	Platform
pioneer_mrs	Support scientific computing library (numpy, scipy, etc.) for your algorithms Support two kinds of localization methods (odometry, VICON) Support two kinds of robot-level simulators (MobileSim, Gazebo) Visualization is under developing	Pioneer 3-AT Ubuntu 16.04.3 LTS Robot Operating System (kinetic) ROSARIA package (git-commit-aa8d5f7) ARIA lib (2.9.1a-ubuntu16-i386)

2. Usage

2.1 Running on Robots

System Configuration

Before using this package to drive your robots, you may configure your platform following the steps:

All machines (5 robots + 1 laptop) are installed Ubuntu 16.04 and ROS Kinetic
All robots (onboard computer, actually) are installed and catkin_make-ed ARIA lib and ROSARIA package
All machines need a static IP address and are able to automatically connect to your local WiFi
Write the IP and hostname information into /etc/hosts file on all the machines
Your commander (laptop) is able to SSH to all robots via public key (instead of password)
Onboard computers are able to get access to the microcontroller via serial post (add user to dialout group)

For detailed information regarding how to set up the whole system, please refer to the wiki page.

Moreover, there are two suggestions which is not necessary for this system but may be useful for your development.

You may install a teamviewer software on your laptop and robots so that you can remote login into your onboard computers.
For IDE, I recommend RoboWare Studio, which is especially designed for ROS developers. Another alternative is KDevelop, which is a cross-platform IDE.

Package Dependencies

Before git clone this repository, you need to install ARIA lib and git clone ROSARIA package first. After that, catkin_make your ROSARIA package with ARIA library. Then, you can clone this repository by git clone https://github.com/hanzheteng/pioneer_mrs.git and catkin_make this package in your workspace.

Notice:

You must catkin_make the ROSARIA package first before you clone and make this package, otherwise it may report errors.
Sometimes you need to catkin_make pioneer_mrs_generate_messages first before catkin_make this package, because the compiler may not be able to find the header file of our messages.

Optional package:

If you want to use VICON motion capture system, you also need to git clone and catkin_make vicon_bridge package.

Sample Usage

Basically there are several steps:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch
launch nodes on commander roslaunch pioneer_mrs commander.launch

If using Vicon:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=vicon
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.2 Running on MobileSim Simulator

You also need ROSARIA package to connect to MobileSim simulator. Moreover, you need to install MobileSim on your laptop.

Basically there are several steps:

run a MobileSim simulator and spawn five robots roslaunch pioneer_mrs mobilesim.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch machine:=mobilesim
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.3 Running on Gazebo Simulator

You do not need ROSARIA package here, since Gazebo will take charge of publishing odom information and dealing with cmd_vel commands. Gazebo is installed by default along with ROS if choosing desktop-full install. Moreover, for simulations of Pioneer 3-AT robots, you also need models and URDF files supplied by Mobile Robots Inc. by git clone amr-ros-config meta-package.

Basically there are several steps:

run a Gazebo simulator and spawn five robots roslaunch pioneer_mrs gazebo.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=gazebo machine:=gazebo
launch nodes on commander roslaunch pioneer_mrs commander.launch

Notice: On real robots, movement commands only execute for 600ms because of WatchDog timeout mechanism; but in gazebo simulator, robots will keep moving towards the last direction. You may press space bar (stop command) to stop it.

2.4 Single Robot Recoverary

Optional launch file (e.g. robot1):

launch one robot roslaunch pioneer_mrs single-robot.launch hostname:=robot1
launch one robot with Vicon roslaunch pioneer_mrs single-robot.launch hostname:=robot1 pose:=vicon
launch one robot on MobileSim simulator

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	catkin
	gazebo_ros
	xacro
	message_runtime
	roscpp
	rospy
	std_msgs
	nav_msgs
	tf
	geometry_msgs
	message_generation
	dynamic_reconfigure
	actionlib
	actionlib_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/commander.launch
launch/gazebo.launch
- - world_name [default: worlds/empty.world]
  - urdf [default: $(find pioneer_mrs)/config/pioneer3at.urdf]
  - r1 [default: -model robot1 -robot_namespace robot1/gazebo -x 0 -y 2]
  - r2 [default: -model robot2 -robot_namespace robot2/gazebo -x 0 -y 1]
  - r3 [default: -model robot3 -robot_namespace robot3/gazebo -x 0 -y 0]
  - r4 [default: -model robot4 -robot_namespace robot4/gazebo -x 0 -y -1]
  - r5 [default: -model robot5 -robot_namespace robot5/gazebo -x 0 -y -2]
launch/mobilesim.launch
launch/multi-robot.launch
- - hostname
  - machine [default: remote]
  - pose [default: odom]
  - port
launch/single-robot.launch
- - hostname [default: robot1]
  - machine [default: remote]
  - pose [default: odom]
  - port
config/robot.xml
- - hostname [default: robot1]
  - machine [default: commander]
  - pose [default: odom]
  - port [default: /dev/ttyS0]
config/vicon.xml

Messages

Services

srv/Pose2D.srv

Plugins

No plugins found.

Recent questions tagged `pioneer_mrs` at Robotics Stack Exchange

API Docs Browse Code

No version for distro galactic showing kinetic. Known supported distros are highlighted in the buttons above.

pioneer_mrs package from pioneer_mrs repo

pioneer_mrs

ROS Distro
kinetic

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	1.4.0
License	MIT
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/hanzheteng/pioneer_mrs.git
VCS Type	git
VCS Version	master
Last Updated	2020-03-04
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The pioneer_mrs ROS package for Pioneer 3-AT Multi-Robot Systems

Additional Links

Maintainers

Hanzhe Teng

Authors

Hanzhe Teng

README.md

pioneer_mrs

1. Introduction

A ROS package for Pioneer 3-AT Multi-Robot Systems.

This is a flexible experimental platform for multi-robot systems (MRS). Should there be any problem, please feel free to contact maintainer @hanzheteng or open a new issue in this repository.

ROS package	Description (Features)	Platform
pioneer_mrs	Support scientific computing library (numpy, scipy, etc.) for your algorithms Support two kinds of localization methods (odometry, VICON) Support two kinds of robot-level simulators (MobileSim, Gazebo) Visualization is under developing	Pioneer 3-AT Ubuntu 16.04.3 LTS Robot Operating System (kinetic) ROSARIA package (git-commit-aa8d5f7) ARIA lib (2.9.1a-ubuntu16-i386)

2. Usage

2.1 Running on Robots

System Configuration

Before using this package to drive your robots, you may configure your platform following the steps:

All machines (5 robots + 1 laptop) are installed Ubuntu 16.04 and ROS Kinetic
All robots (onboard computer, actually) are installed and catkin_make-ed ARIA lib and ROSARIA package
All machines need a static IP address and are able to automatically connect to your local WiFi
Write the IP and hostname information into /etc/hosts file on all the machines
Your commander (laptop) is able to SSH to all robots via public key (instead of password)
Onboard computers are able to get access to the microcontroller via serial post (add user to dialout group)

For detailed information regarding how to set up the whole system, please refer to the wiki page.

Moreover, there are two suggestions which is not necessary for this system but may be useful for your development.

You may install a teamviewer software on your laptop and robots so that you can remote login into your onboard computers.
For IDE, I recommend RoboWare Studio, which is especially designed for ROS developers. Another alternative is KDevelop, which is a cross-platform IDE.

Package Dependencies

Before git clone this repository, you need to install ARIA lib and git clone ROSARIA package first. After that, catkin_make your ROSARIA package with ARIA library. Then, you can clone this repository by git clone https://github.com/hanzheteng/pioneer_mrs.git and catkin_make this package in your workspace.

Notice:

You must catkin_make the ROSARIA package first before you clone and make this package, otherwise it may report errors.
Sometimes you need to catkin_make pioneer_mrs_generate_messages first before catkin_make this package, because the compiler may not be able to find the header file of our messages.

Optional package:

If you want to use VICON motion capture system, you also need to git clone and catkin_make vicon_bridge package.

Sample Usage

Basically there are several steps:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch
launch nodes on commander roslaunch pioneer_mrs commander.launch

If using Vicon:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=vicon
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.2 Running on MobileSim Simulator

You also need ROSARIA package to connect to MobileSim simulator. Moreover, you need to install MobileSim on your laptop.

Basically there are several steps:

run a MobileSim simulator and spawn five robots roslaunch pioneer_mrs mobilesim.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch machine:=mobilesim
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.3 Running on Gazebo Simulator

You do not need ROSARIA package here, since Gazebo will take charge of publishing odom information and dealing with cmd_vel commands. Gazebo is installed by default along with ROS if choosing desktop-full install. Moreover, for simulations of Pioneer 3-AT robots, you also need models and URDF files supplied by Mobile Robots Inc. by git clone amr-ros-config meta-package.

Basically there are several steps:

run a Gazebo simulator and spawn five robots roslaunch pioneer_mrs gazebo.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=gazebo machine:=gazebo
launch nodes on commander roslaunch pioneer_mrs commander.launch

Notice: On real robots, movement commands only execute for 600ms because of WatchDog timeout mechanism; but in gazebo simulator, robots will keep moving towards the last direction. You may press space bar (stop command) to stop it.

2.4 Single Robot Recoverary

Optional launch file (e.g. robot1):

launch one robot roslaunch pioneer_mrs single-robot.launch hostname:=robot1
launch one robot with Vicon roslaunch pioneer_mrs single-robot.launch hostname:=robot1 pose:=vicon
launch one robot on MobileSim simulator

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	catkin
	gazebo_ros
	xacro
	message_runtime
	roscpp
	rospy
	std_msgs
	nav_msgs
	tf
	geometry_msgs
	message_generation
	dynamic_reconfigure
	actionlib
	actionlib_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/commander.launch
launch/gazebo.launch
- - world_name [default: worlds/empty.world]
  - urdf [default: $(find pioneer_mrs)/config/pioneer3at.urdf]
  - r1 [default: -model robot1 -robot_namespace robot1/gazebo -x 0 -y 2]
  - r2 [default: -model robot2 -robot_namespace robot2/gazebo -x 0 -y 1]
  - r3 [default: -model robot3 -robot_namespace robot3/gazebo -x 0 -y 0]
  - r4 [default: -model robot4 -robot_namespace robot4/gazebo -x 0 -y -1]
  - r5 [default: -model robot5 -robot_namespace robot5/gazebo -x 0 -y -2]
launch/mobilesim.launch
launch/multi-robot.launch
- - hostname
  - machine [default: remote]
  - pose [default: odom]
  - port
launch/single-robot.launch
- - hostname [default: robot1]
  - machine [default: remote]
  - pose [default: odom]
  - port
config/robot.xml
- - hostname [default: robot1]
  - machine [default: commander]
  - pose [default: odom]
  - port [default: /dev/ttyS0]
config/vicon.xml

Messages

Services

srv/Pose2D.srv

Plugins

No plugins found.

Recent questions tagged `pioneer_mrs` at Robotics Stack Exchange

API Docs Browse Code

No version for distro foxy showing kinetic. Known supported distros are highlighted in the buttons above.

pioneer_mrs package from pioneer_mrs repo

pioneer_mrs

ROS Distro
kinetic

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	1.4.0
License	MIT
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/hanzheteng/pioneer_mrs.git
VCS Type	git
VCS Version	master
Last Updated	2020-03-04
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The pioneer_mrs ROS package for Pioneer 3-AT Multi-Robot Systems

Additional Links

Maintainers

Hanzhe Teng

Authors

Hanzhe Teng

README.md

pioneer_mrs

1. Introduction

A ROS package for Pioneer 3-AT Multi-Robot Systems.

This is a flexible experimental platform for multi-robot systems (MRS). Should there be any problem, please feel free to contact maintainer @hanzheteng or open a new issue in this repository.

ROS package	Description (Features)	Platform
pioneer_mrs	Support scientific computing library (numpy, scipy, etc.) for your algorithms Support two kinds of localization methods (odometry, VICON) Support two kinds of robot-level simulators (MobileSim, Gazebo) Visualization is under developing	Pioneer 3-AT Ubuntu 16.04.3 LTS Robot Operating System (kinetic) ROSARIA package (git-commit-aa8d5f7) ARIA lib (2.9.1a-ubuntu16-i386)

2. Usage

2.1 Running on Robots

System Configuration

Before using this package to drive your robots, you may configure your platform following the steps:

All machines (5 robots + 1 laptop) are installed Ubuntu 16.04 and ROS Kinetic
All robots (onboard computer, actually) are installed and catkin_make-ed ARIA lib and ROSARIA package
All machines need a static IP address and are able to automatically connect to your local WiFi
Write the IP and hostname information into /etc/hosts file on all the machines
Your commander (laptop) is able to SSH to all robots via public key (instead of password)
Onboard computers are able to get access to the microcontroller via serial post (add user to dialout group)

For detailed information regarding how to set up the whole system, please refer to the wiki page.

Moreover, there are two suggestions which is not necessary for this system but may be useful for your development.

You may install a teamviewer software on your laptop and robots so that you can remote login into your onboard computers.
For IDE, I recommend RoboWare Studio, which is especially designed for ROS developers. Another alternative is KDevelop, which is a cross-platform IDE.

Package Dependencies

Before git clone this repository, you need to install ARIA lib and git clone ROSARIA package first. After that, catkin_make your ROSARIA package with ARIA library. Then, you can clone this repository by git clone https://github.com/hanzheteng/pioneer_mrs.git and catkin_make this package in your workspace.

Notice:

You must catkin_make the ROSARIA package first before you clone and make this package, otherwise it may report errors.
Sometimes you need to catkin_make pioneer_mrs_generate_messages first before catkin_make this package, because the compiler may not be able to find the header file of our messages.

Optional package:

If you want to use VICON motion capture system, you also need to git clone and catkin_make vicon_bridge package.

Sample Usage

Basically there are several steps:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch
launch nodes on commander roslaunch pioneer_mrs commander.launch

If using Vicon:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=vicon
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.2 Running on MobileSim Simulator

You also need ROSARIA package to connect to MobileSim simulator. Moreover, you need to install MobileSim on your laptop.

Basically there are several steps:

run a MobileSim simulator and spawn five robots roslaunch pioneer_mrs mobilesim.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch machine:=mobilesim
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.3 Running on Gazebo Simulator

You do not need ROSARIA package here, since Gazebo will take charge of publishing odom information and dealing with cmd_vel commands. Gazebo is installed by default along with ROS if choosing desktop-full install. Moreover, for simulations of Pioneer 3-AT robots, you also need models and URDF files supplied by Mobile Robots Inc. by git clone amr-ros-config meta-package.

Basically there are several steps:

run a Gazebo simulator and spawn five robots roslaunch pioneer_mrs gazebo.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=gazebo machine:=gazebo
launch nodes on commander roslaunch pioneer_mrs commander.launch

Notice: On real robots, movement commands only execute for 600ms because of WatchDog timeout mechanism; but in gazebo simulator, robots will keep moving towards the last direction. You may press space bar (stop command) to stop it.

2.4 Single Robot Recoverary

Optional launch file (e.g. robot1):

launch one robot roslaunch pioneer_mrs single-robot.launch hostname:=robot1
launch one robot with Vicon roslaunch pioneer_mrs single-robot.launch hostname:=robot1 pose:=vicon
launch one robot on MobileSim simulator

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	catkin
	gazebo_ros
	xacro
	message_runtime
	roscpp
	rospy
	std_msgs
	nav_msgs
	tf
	geometry_msgs
	message_generation
	dynamic_reconfigure
	actionlib
	actionlib_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/commander.launch
launch/gazebo.launch
- - world_name [default: worlds/empty.world]
  - urdf [default: $(find pioneer_mrs)/config/pioneer3at.urdf]
  - r1 [default: -model robot1 -robot_namespace robot1/gazebo -x 0 -y 2]
  - r2 [default: -model robot2 -robot_namespace robot2/gazebo -x 0 -y 1]
  - r3 [default: -model robot3 -robot_namespace robot3/gazebo -x 0 -y 0]
  - r4 [default: -model robot4 -robot_namespace robot4/gazebo -x 0 -y -1]
  - r5 [default: -model robot5 -robot_namespace robot5/gazebo -x 0 -y -2]
launch/mobilesim.launch
launch/multi-robot.launch
- - hostname
  - machine [default: remote]
  - pose [default: odom]
  - port
launch/single-robot.launch
- - hostname [default: robot1]
  - machine [default: remote]
  - pose [default: odom]
  - port
config/robot.xml
- - hostname [default: robot1]
  - machine [default: commander]
  - pose [default: odom]
  - port [default: /dev/ttyS0]
config/vicon.xml

Messages

Services

srv/Pose2D.srv

Plugins

No plugins found.

Recent questions tagged `pioneer_mrs` at Robotics Stack Exchange

API Docs Browse Code

No version for distro iron showing kinetic. Known supported distros are highlighted in the buttons above.

pioneer_mrs package from pioneer_mrs repo

pioneer_mrs

ROS Distro
kinetic

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	1.4.0
License	MIT
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/hanzheteng/pioneer_mrs.git
VCS Type	git
VCS Version	master
Last Updated	2020-03-04
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The pioneer_mrs ROS package for Pioneer 3-AT Multi-Robot Systems

Additional Links

Maintainers

Hanzhe Teng

Authors

Hanzhe Teng

README.md

pioneer_mrs

1. Introduction

A ROS package for Pioneer 3-AT Multi-Robot Systems.

This is a flexible experimental platform for multi-robot systems (MRS). Should there be any problem, please feel free to contact maintainer @hanzheteng or open a new issue in this repository.

ROS package	Description (Features)	Platform
pioneer_mrs	Support scientific computing library (numpy, scipy, etc.) for your algorithms Support two kinds of localization methods (odometry, VICON) Support two kinds of robot-level simulators (MobileSim, Gazebo) Visualization is under developing	Pioneer 3-AT Ubuntu 16.04.3 LTS Robot Operating System (kinetic) ROSARIA package (git-commit-aa8d5f7) ARIA lib (2.9.1a-ubuntu16-i386)

2. Usage

2.1 Running on Robots

System Configuration

Before using this package to drive your robots, you may configure your platform following the steps:

All machines (5 robots + 1 laptop) are installed Ubuntu 16.04 and ROS Kinetic
All robots (onboard computer, actually) are installed and catkin_make-ed ARIA lib and ROSARIA package
All machines need a static IP address and are able to automatically connect to your local WiFi
Write the IP and hostname information into /etc/hosts file on all the machines
Your commander (laptop) is able to SSH to all robots via public key (instead of password)
Onboard computers are able to get access to the microcontroller via serial post (add user to dialout group)

For detailed information regarding how to set up the whole system, please refer to the wiki page.

Moreover, there are two suggestions which is not necessary for this system but may be useful for your development.

You may install a teamviewer software on your laptop and robots so that you can remote login into your onboard computers.
For IDE, I recommend RoboWare Studio, which is especially designed for ROS developers. Another alternative is KDevelop, which is a cross-platform IDE.

Package Dependencies

Before git clone this repository, you need to install ARIA lib and git clone ROSARIA package first. After that, catkin_make your ROSARIA package with ARIA library. Then, you can clone this repository by git clone https://github.com/hanzheteng/pioneer_mrs.git and catkin_make this package in your workspace.

Notice:

You must catkin_make the ROSARIA package first before you clone and make this package, otherwise it may report errors.
Sometimes you need to catkin_make pioneer_mrs_generate_messages first before catkin_make this package, because the compiler may not be able to find the header file of our messages.

Optional package:

If you want to use VICON motion capture system, you also need to git clone and catkin_make vicon_bridge package.

Sample Usage

Basically there are several steps:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch
launch nodes on commander roslaunch pioneer_mrs commander.launch

If using Vicon:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=vicon
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.2 Running on MobileSim Simulator

You also need ROSARIA package to connect to MobileSim simulator. Moreover, you need to install MobileSim on your laptop.

Basically there are several steps:

run a MobileSim simulator and spawn five robots roslaunch pioneer_mrs mobilesim.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch machine:=mobilesim
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.3 Running on Gazebo Simulator

You do not need ROSARIA package here, since Gazebo will take charge of publishing odom information and dealing with cmd_vel commands. Gazebo is installed by default along with ROS if choosing desktop-full install. Moreover, for simulations of Pioneer 3-AT robots, you also need models and URDF files supplied by Mobile Robots Inc. by git clone amr-ros-config meta-package.

Basically there are several steps:

run a Gazebo simulator and spawn five robots roslaunch pioneer_mrs gazebo.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=gazebo machine:=gazebo
launch nodes on commander roslaunch pioneer_mrs commander.launch

Notice: On real robots, movement commands only execute for 600ms because of WatchDog timeout mechanism; but in gazebo simulator, robots will keep moving towards the last direction. You may press space bar (stop command) to stop it.

2.4 Single Robot Recoverary

Optional launch file (e.g. robot1):

launch one robot roslaunch pioneer_mrs single-robot.launch hostname:=robot1
launch one robot with Vicon roslaunch pioneer_mrs single-robot.launch hostname:=robot1 pose:=vicon
launch one robot on MobileSim simulator

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	catkin
	gazebo_ros
	xacro
	message_runtime
	roscpp
	rospy
	std_msgs
	nav_msgs
	tf
	geometry_msgs
	message_generation
	dynamic_reconfigure
	actionlib
	actionlib_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/commander.launch
launch/gazebo.launch
- - world_name [default: worlds/empty.world]
  - urdf [default: $(find pioneer_mrs)/config/pioneer3at.urdf]
  - r1 [default: -model robot1 -robot_namespace robot1/gazebo -x 0 -y 2]
  - r2 [default: -model robot2 -robot_namespace robot2/gazebo -x 0 -y 1]
  - r3 [default: -model robot3 -robot_namespace robot3/gazebo -x 0 -y 0]
  - r4 [default: -model robot4 -robot_namespace robot4/gazebo -x 0 -y -1]
  - r5 [default: -model robot5 -robot_namespace robot5/gazebo -x 0 -y -2]
launch/mobilesim.launch
launch/multi-robot.launch
- - hostname
  - machine [default: remote]
  - pose [default: odom]
  - port
launch/single-robot.launch
- - hostname [default: robot1]
  - machine [default: remote]
  - pose [default: odom]
  - port
config/robot.xml
- - hostname [default: robot1]
  - machine [default: commander]
  - pose [default: odom]
  - port [default: /dev/ttyS0]
config/vicon.xml

Messages

Services

srv/Pose2D.srv

Plugins

No plugins found.

Recent questions tagged `pioneer_mrs` at Robotics Stack Exchange

API Docs Browse Code

No version for distro lunar showing kinetic. Known supported distros are highlighted in the buttons above.

pioneer_mrs package from pioneer_mrs repo

pioneer_mrs

ROS Distro
kinetic

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	1.4.0
License	MIT
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/hanzheteng/pioneer_mrs.git
VCS Type	git
VCS Version	master
Last Updated	2020-03-04
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The pioneer_mrs ROS package for Pioneer 3-AT Multi-Robot Systems

Additional Links

Maintainers

Hanzhe Teng

Authors

Hanzhe Teng

README.md

pioneer_mrs

1. Introduction

A ROS package for Pioneer 3-AT Multi-Robot Systems.

This is a flexible experimental platform for multi-robot systems (MRS). Should there be any problem, please feel free to contact maintainer @hanzheteng or open a new issue in this repository.

ROS package	Description (Features)	Platform
pioneer_mrs	Support scientific computing library (numpy, scipy, etc.) for your algorithms Support two kinds of localization methods (odometry, VICON) Support two kinds of robot-level simulators (MobileSim, Gazebo) Visualization is under developing	Pioneer 3-AT Ubuntu 16.04.3 LTS Robot Operating System (kinetic) ROSARIA package (git-commit-aa8d5f7) ARIA lib (2.9.1a-ubuntu16-i386)

2. Usage

2.1 Running on Robots

System Configuration

Before using this package to drive your robots, you may configure your platform following the steps:

All machines (5 robots + 1 laptop) are installed Ubuntu 16.04 and ROS Kinetic
All robots (onboard computer, actually) are installed and catkin_make-ed ARIA lib and ROSARIA package
All machines need a static IP address and are able to automatically connect to your local WiFi
Write the IP and hostname information into /etc/hosts file on all the machines
Your commander (laptop) is able to SSH to all robots via public key (instead of password)
Onboard computers are able to get access to the microcontroller via serial post (add user to dialout group)

For detailed information regarding how to set up the whole system, please refer to the wiki page.

Moreover, there are two suggestions which is not necessary for this system but may be useful for your development.

You may install a teamviewer software on your laptop and robots so that you can remote login into your onboard computers.
For IDE, I recommend RoboWare Studio, which is especially designed for ROS developers. Another alternative is KDevelop, which is a cross-platform IDE.

Package Dependencies

Before git clone this repository, you need to install ARIA lib and git clone ROSARIA package first. After that, catkin_make your ROSARIA package with ARIA library. Then, you can clone this repository by git clone https://github.com/hanzheteng/pioneer_mrs.git and catkin_make this package in your workspace.

Notice:

You must catkin_make the ROSARIA package first before you clone and make this package, otherwise it may report errors.
Sometimes you need to catkin_make pioneer_mrs_generate_messages first before catkin_make this package, because the compiler may not be able to find the header file of our messages.

Optional package:

If you want to use VICON motion capture system, you also need to git clone and catkin_make vicon_bridge package.

Sample Usage

Basically there are several steps:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch
launch nodes on commander roslaunch pioneer_mrs commander.launch

If using Vicon:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=vicon
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.2 Running on MobileSim Simulator

You also need ROSARIA package to connect to MobileSim simulator. Moreover, you need to install MobileSim on your laptop.

Basically there are several steps:

run a MobileSim simulator and spawn five robots roslaunch pioneer_mrs mobilesim.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch machine:=mobilesim
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.3 Running on Gazebo Simulator

You do not need ROSARIA package here, since Gazebo will take charge of publishing odom information and dealing with cmd_vel commands. Gazebo is installed by default along with ROS if choosing desktop-full install. Moreover, for simulations of Pioneer 3-AT robots, you also need models and URDF files supplied by Mobile Robots Inc. by git clone amr-ros-config meta-package.

Basically there are several steps:

run a Gazebo simulator and spawn five robots roslaunch pioneer_mrs gazebo.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=gazebo machine:=gazebo
launch nodes on commander roslaunch pioneer_mrs commander.launch

Notice: On real robots, movement commands only execute for 600ms because of WatchDog timeout mechanism; but in gazebo simulator, robots will keep moving towards the last direction. You may press space bar (stop command) to stop it.

2.4 Single Robot Recoverary

Optional launch file (e.g. robot1):

launch one robot roslaunch pioneer_mrs single-robot.launch hostname:=robot1
launch one robot with Vicon roslaunch pioneer_mrs single-robot.launch hostname:=robot1 pose:=vicon
launch one robot on MobileSim simulator

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	catkin
	gazebo_ros
	xacro
	message_runtime
	roscpp
	rospy
	std_msgs
	nav_msgs
	tf
	geometry_msgs
	message_generation
	dynamic_reconfigure
	actionlib
	actionlib_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/commander.launch
launch/gazebo.launch
- - world_name [default: worlds/empty.world]
  - urdf [default: $(find pioneer_mrs)/config/pioneer3at.urdf]
  - r1 [default: -model robot1 -robot_namespace robot1/gazebo -x 0 -y 2]
  - r2 [default: -model robot2 -robot_namespace robot2/gazebo -x 0 -y 1]
  - r3 [default: -model robot3 -robot_namespace robot3/gazebo -x 0 -y 0]
  - r4 [default: -model robot4 -robot_namespace robot4/gazebo -x 0 -y -1]
  - r5 [default: -model robot5 -robot_namespace robot5/gazebo -x 0 -y -2]
launch/mobilesim.launch
launch/multi-robot.launch
- - hostname
  - machine [default: remote]
  - pose [default: odom]
  - port
launch/single-robot.launch
- - hostname [default: robot1]
  - machine [default: remote]
  - pose [default: odom]
  - port
config/robot.xml
- - hostname [default: robot1]
  - machine [default: commander]
  - pose [default: odom]
  - port [default: /dev/ttyS0]
config/vicon.xml

Messages

Services

srv/Pose2D.srv

Plugins

No plugins found.

Recent questions tagged `pioneer_mrs` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro jade showing kinetic. Known supported distros are highlighted in the buttons above.

pioneer_mrs package from pioneer_mrs repo

pioneer_mrs

ROS Distro
kinetic

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	1.4.0
License	MIT
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/hanzheteng/pioneer_mrs.git
VCS Type	git
VCS Version	master
Last Updated	2020-03-04
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The pioneer_mrs ROS package for Pioneer 3-AT Multi-Robot Systems

Additional Links

Maintainers

Hanzhe Teng

Authors

Hanzhe Teng

README.md

pioneer_mrs

1. Introduction

A ROS package for Pioneer 3-AT Multi-Robot Systems.

This is a flexible experimental platform for multi-robot systems (MRS). Should there be any problem, please feel free to contact maintainer @hanzheteng or open a new issue in this repository.

ROS package	Description (Features)	Platform
pioneer_mrs	Support scientific computing library (numpy, scipy, etc.) for your algorithms Support two kinds of localization methods (odometry, VICON) Support two kinds of robot-level simulators (MobileSim, Gazebo) Visualization is under developing	Pioneer 3-AT Ubuntu 16.04.3 LTS Robot Operating System (kinetic) ROSARIA package (git-commit-aa8d5f7) ARIA lib (2.9.1a-ubuntu16-i386)

2. Usage

2.1 Running on Robots

System Configuration

Before using this package to drive your robots, you may configure your platform following the steps:

All machines (5 robots + 1 laptop) are installed Ubuntu 16.04 and ROS Kinetic
All robots (onboard computer, actually) are installed and catkin_make-ed ARIA lib and ROSARIA package
All machines need a static IP address and are able to automatically connect to your local WiFi
Write the IP and hostname information into /etc/hosts file on all the machines
Your commander (laptop) is able to SSH to all robots via public key (instead of password)
Onboard computers are able to get access to the microcontroller via serial post (add user to dialout group)

For detailed information regarding how to set up the whole system, please refer to the wiki page.

Moreover, there are two suggestions which is not necessary for this system but may be useful for your development.

You may install a teamviewer software on your laptop and robots so that you can remote login into your onboard computers.
For IDE, I recommend RoboWare Studio, which is especially designed for ROS developers. Another alternative is KDevelop, which is a cross-platform IDE.

Package Dependencies

Before git clone this repository, you need to install ARIA lib and git clone ROSARIA package first. After that, catkin_make your ROSARIA package with ARIA library. Then, you can clone this repository by git clone https://github.com/hanzheteng/pioneer_mrs.git and catkin_make this package in your workspace.

Notice:

You must catkin_make the ROSARIA package first before you clone and make this package, otherwise it may report errors.
Sometimes you need to catkin_make pioneer_mrs_generate_messages first before catkin_make this package, because the compiler may not be able to find the header file of our messages.

Optional package:

If you want to use VICON motion capture system, you also need to git clone and catkin_make vicon_bridge package.

Sample Usage

Basically there are several steps:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch
launch nodes on commander roslaunch pioneer_mrs commander.launch

If using Vicon:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=vicon
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.2 Running on MobileSim Simulator

You also need ROSARIA package to connect to MobileSim simulator. Moreover, you need to install MobileSim on your laptop.

Basically there are several steps:

run a MobileSim simulator and spawn five robots roslaunch pioneer_mrs mobilesim.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch machine:=mobilesim
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.3 Running on Gazebo Simulator

You do not need ROSARIA package here, since Gazebo will take charge of publishing odom information and dealing with cmd_vel commands. Gazebo is installed by default along with ROS if choosing desktop-full install. Moreover, for simulations of Pioneer 3-AT robots, you also need models and URDF files supplied by Mobile Robots Inc. by git clone amr-ros-config meta-package.

Basically there are several steps:

run a Gazebo simulator and spawn five robots roslaunch pioneer_mrs gazebo.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=gazebo machine:=gazebo
launch nodes on commander roslaunch pioneer_mrs commander.launch

Notice: On real robots, movement commands only execute for 600ms because of WatchDog timeout mechanism; but in gazebo simulator, robots will keep moving towards the last direction. You may press space bar (stop command) to stop it.

2.4 Single Robot Recoverary

Optional launch file (e.g. robot1):

launch one robot roslaunch pioneer_mrs single-robot.launch hostname:=robot1
launch one robot with Vicon roslaunch pioneer_mrs single-robot.launch hostname:=robot1 pose:=vicon
launch one robot on MobileSim simulator

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	catkin
	gazebo_ros
	xacro
	message_runtime
	roscpp
	rospy
	std_msgs
	nav_msgs
	tf
	geometry_msgs
	message_generation
	dynamic_reconfigure
	actionlib
	actionlib_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/commander.launch
launch/gazebo.launch
- - world_name [default: worlds/empty.world]
  - urdf [default: $(find pioneer_mrs)/config/pioneer3at.urdf]
  - r1 [default: -model robot1 -robot_namespace robot1/gazebo -x 0 -y 2]
  - r2 [default: -model robot2 -robot_namespace robot2/gazebo -x 0 -y 1]
  - r3 [default: -model robot3 -robot_namespace robot3/gazebo -x 0 -y 0]
  - r4 [default: -model robot4 -robot_namespace robot4/gazebo -x 0 -y -1]
  - r5 [default: -model robot5 -robot_namespace robot5/gazebo -x 0 -y -2]
launch/mobilesim.launch
launch/multi-robot.launch
- - hostname
  - machine [default: remote]
  - pose [default: odom]
  - port
launch/single-robot.launch
- - hostname [default: robot1]
  - machine [default: remote]
  - pose [default: odom]
  - port
config/robot.xml
- - hostname [default: robot1]
  - machine [default: commander]
  - pose [default: odom]
  - port [default: /dev/ttyS0]
config/vicon.xml

Messages

Services

srv/Pose2D.srv

Plugins

No plugins found.

Recent questions tagged `pioneer_mrs` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro indigo showing kinetic. Known supported distros are highlighted in the buttons above.

pioneer_mrs package from pioneer_mrs repo

pioneer_mrs

ROS Distro
kinetic

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	1.4.0
License	MIT
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/hanzheteng/pioneer_mrs.git
VCS Type	git
VCS Version	master
Last Updated	2020-03-04
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The pioneer_mrs ROS package for Pioneer 3-AT Multi-Robot Systems

Additional Links

Maintainers

Hanzhe Teng

Authors

Hanzhe Teng

README.md

pioneer_mrs

1. Introduction

A ROS package for Pioneer 3-AT Multi-Robot Systems.

This is a flexible experimental platform for multi-robot systems (MRS). Should there be any problem, please feel free to contact maintainer @hanzheteng or open a new issue in this repository.

ROS package	Description (Features)	Platform
pioneer_mrs	Support scientific computing library (numpy, scipy, etc.) for your algorithms Support two kinds of localization methods (odometry, VICON) Support two kinds of robot-level simulators (MobileSim, Gazebo) Visualization is under developing	Pioneer 3-AT Ubuntu 16.04.3 LTS Robot Operating System (kinetic) ROSARIA package (git-commit-aa8d5f7) ARIA lib (2.9.1a-ubuntu16-i386)

2. Usage

2.1 Running on Robots

System Configuration

Before using this package to drive your robots, you may configure your platform following the steps:

All machines (5 robots + 1 laptop) are installed Ubuntu 16.04 and ROS Kinetic
All robots (onboard computer, actually) are installed and catkin_make-ed ARIA lib and ROSARIA package
All machines need a static IP address and are able to automatically connect to your local WiFi
Write the IP and hostname information into /etc/hosts file on all the machines
Your commander (laptop) is able to SSH to all robots via public key (instead of password)
Onboard computers are able to get access to the microcontroller via serial post (add user to dialout group)

For detailed information regarding how to set up the whole system, please refer to the wiki page.

Moreover, there are two suggestions which is not necessary for this system but may be useful for your development.

You may install a teamviewer software on your laptop and robots so that you can remote login into your onboard computers.
For IDE, I recommend RoboWare Studio, which is especially designed for ROS developers. Another alternative is KDevelop, which is a cross-platform IDE.

Package Dependencies

Before git clone this repository, you need to install ARIA lib and git clone ROSARIA package first. After that, catkin_make your ROSARIA package with ARIA library. Then, you can clone this repository by git clone https://github.com/hanzheteng/pioneer_mrs.git and catkin_make this package in your workspace.

Notice:

You must catkin_make the ROSARIA package first before you clone and make this package, otherwise it may report errors.
Sometimes you need to catkin_make pioneer_mrs_generate_messages first before catkin_make this package, because the compiler may not be able to find the header file of our messages.

Optional package:

If you want to use VICON motion capture system, you also need to git clone and catkin_make vicon_bridge package.

Sample Usage

Basically there are several steps:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch
launch nodes on commander roslaunch pioneer_mrs commander.launch

If using Vicon:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=vicon
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.2 Running on MobileSim Simulator

You also need ROSARIA package to connect to MobileSim simulator. Moreover, you need to install MobileSim on your laptop.

Basically there are several steps:

run a MobileSim simulator and spawn five robots roslaunch pioneer_mrs mobilesim.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch machine:=mobilesim
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.3 Running on Gazebo Simulator

You do not need ROSARIA package here, since Gazebo will take charge of publishing odom information and dealing with cmd_vel commands. Gazebo is installed by default along with ROS if choosing desktop-full install. Moreover, for simulations of Pioneer 3-AT robots, you also need models and URDF files supplied by Mobile Robots Inc. by git clone amr-ros-config meta-package.

Basically there are several steps:

run a Gazebo simulator and spawn five robots roslaunch pioneer_mrs gazebo.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=gazebo machine:=gazebo
launch nodes on commander roslaunch pioneer_mrs commander.launch

Notice: On real robots, movement commands only execute for 600ms because of WatchDog timeout mechanism; but in gazebo simulator, robots will keep moving towards the last direction. You may press space bar (stop command) to stop it.

2.4 Single Robot Recoverary

Optional launch file (e.g. robot1):

launch one robot roslaunch pioneer_mrs single-robot.launch hostname:=robot1
launch one robot with Vicon roslaunch pioneer_mrs single-robot.launch hostname:=robot1 pose:=vicon
launch one robot on MobileSim simulator

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	catkin
	gazebo_ros
	xacro
	message_runtime
	roscpp
	rospy
	std_msgs
	nav_msgs
	tf
	geometry_msgs
	message_generation
	dynamic_reconfigure
	actionlib
	actionlib_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/commander.launch
launch/gazebo.launch
- - world_name [default: worlds/empty.world]
  - urdf [default: $(find pioneer_mrs)/config/pioneer3at.urdf]
  - r1 [default: -model robot1 -robot_namespace robot1/gazebo -x 0 -y 2]
  - r2 [default: -model robot2 -robot_namespace robot2/gazebo -x 0 -y 1]
  - r3 [default: -model robot3 -robot_namespace robot3/gazebo -x 0 -y 0]
  - r4 [default: -model robot4 -robot_namespace robot4/gazebo -x 0 -y -1]
  - r5 [default: -model robot5 -robot_namespace robot5/gazebo -x 0 -y -2]
launch/mobilesim.launch
launch/multi-robot.launch
- - hostname
  - machine [default: remote]
  - pose [default: odom]
  - port
launch/single-robot.launch
- - hostname [default: robot1]
  - machine [default: remote]
  - pose [default: odom]
  - port
config/robot.xml
- - hostname [default: robot1]
  - machine [default: commander]
  - pose [default: odom]
  - port [default: /dev/ttyS0]
config/vicon.xml

Messages

Services

srv/Pose2D.srv

Plugins

No plugins found.

Recent questions tagged `pioneer_mrs` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro hydro showing kinetic. Known supported distros are highlighted in the buttons above.

pioneer_mrs package from pioneer_mrs repo

pioneer_mrs

ROS Distro
kinetic

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	1.4.0
License	MIT
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/hanzheteng/pioneer_mrs.git
VCS Type	git
VCS Version	master
Last Updated	2020-03-04
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The pioneer_mrs ROS package for Pioneer 3-AT Multi-Robot Systems

Additional Links

Maintainers

Hanzhe Teng

Authors

Hanzhe Teng

README.md

pioneer_mrs

1. Introduction

A ROS package for Pioneer 3-AT Multi-Robot Systems.

This is a flexible experimental platform for multi-robot systems (MRS). Should there be any problem, please feel free to contact maintainer @hanzheteng or open a new issue in this repository.

ROS package	Description (Features)	Platform
pioneer_mrs	Support scientific computing library (numpy, scipy, etc.) for your algorithms Support two kinds of localization methods (odometry, VICON) Support two kinds of robot-level simulators (MobileSim, Gazebo) Visualization is under developing	Pioneer 3-AT Ubuntu 16.04.3 LTS Robot Operating System (kinetic) ROSARIA package (git-commit-aa8d5f7) ARIA lib (2.9.1a-ubuntu16-i386)

2. Usage

2.1 Running on Robots

System Configuration

Before using this package to drive your robots, you may configure your platform following the steps:

All machines (5 robots + 1 laptop) are installed Ubuntu 16.04 and ROS Kinetic
All robots (onboard computer, actually) are installed and catkin_make-ed ARIA lib and ROSARIA package
All machines need a static IP address and are able to automatically connect to your local WiFi
Write the IP and hostname information into /etc/hosts file on all the machines
Your commander (laptop) is able to SSH to all robots via public key (instead of password)
Onboard computers are able to get access to the microcontroller via serial post (add user to dialout group)

For detailed information regarding how to set up the whole system, please refer to the wiki page.

Moreover, there are two suggestions which is not necessary for this system but may be useful for your development.

You may install a teamviewer software on your laptop and robots so that you can remote login into your onboard computers.
For IDE, I recommend RoboWare Studio, which is especially designed for ROS developers. Another alternative is KDevelop, which is a cross-platform IDE.

Package Dependencies

Before git clone this repository, you need to install ARIA lib and git clone ROSARIA package first. After that, catkin_make your ROSARIA package with ARIA library. Then, you can clone this repository by git clone https://github.com/hanzheteng/pioneer_mrs.git and catkin_make this package in your workspace.

Notice:

You must catkin_make the ROSARIA package first before you clone and make this package, otherwise it may report errors.
Sometimes you need to catkin_make pioneer_mrs_generate_messages first before catkin_make this package, because the compiler may not be able to find the header file of our messages.

Optional package:

If you want to use VICON motion capture system, you also need to git clone and catkin_make vicon_bridge package.

Sample Usage

Basically there are several steps:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch
launch nodes on commander roslaunch pioneer_mrs commander.launch

If using Vicon:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=vicon
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.2 Running on MobileSim Simulator

You also need ROSARIA package to connect to MobileSim simulator. Moreover, you need to install MobileSim on your laptop.

Basically there are several steps:

run a MobileSim simulator and spawn five robots roslaunch pioneer_mrs mobilesim.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch machine:=mobilesim
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.3 Running on Gazebo Simulator

You do not need ROSARIA package here, since Gazebo will take charge of publishing odom information and dealing with cmd_vel commands. Gazebo is installed by default along with ROS if choosing desktop-full install. Moreover, for simulations of Pioneer 3-AT robots, you also need models and URDF files supplied by Mobile Robots Inc. by git clone amr-ros-config meta-package.

Basically there are several steps:

run a Gazebo simulator and spawn five robots roslaunch pioneer_mrs gazebo.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=gazebo machine:=gazebo
launch nodes on commander roslaunch pioneer_mrs commander.launch

Notice: On real robots, movement commands only execute for 600ms because of WatchDog timeout mechanism; but in gazebo simulator, robots will keep moving towards the last direction. You may press space bar (stop command) to stop it.

2.4 Single Robot Recoverary

Optional launch file (e.g. robot1):

launch one robot roslaunch pioneer_mrs single-robot.launch hostname:=robot1
launch one robot with Vicon roslaunch pioneer_mrs single-robot.launch hostname:=robot1 pose:=vicon
launch one robot on MobileSim simulator

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	catkin
	gazebo_ros
	xacro
	message_runtime
	roscpp
	rospy
	std_msgs
	nav_msgs
	tf
	geometry_msgs
	message_generation
	dynamic_reconfigure
	actionlib
	actionlib_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/commander.launch
launch/gazebo.launch
- - world_name [default: worlds/empty.world]
  - urdf [default: $(find pioneer_mrs)/config/pioneer3at.urdf]
  - r1 [default: -model robot1 -robot_namespace robot1/gazebo -x 0 -y 2]
  - r2 [default: -model robot2 -robot_namespace robot2/gazebo -x 0 -y 1]
  - r3 [default: -model robot3 -robot_namespace robot3/gazebo -x 0 -y 0]
  - r4 [default: -model robot4 -robot_namespace robot4/gazebo -x 0 -y -1]
  - r5 [default: -model robot5 -robot_namespace robot5/gazebo -x 0 -y -2]
launch/mobilesim.launch
launch/multi-robot.launch
- - hostname
  - machine [default: remote]
  - pose [default: odom]
  - port
launch/single-robot.launch
- - hostname [default: robot1]
  - machine [default: remote]
  - pose [default: odom]
  - port
config/robot.xml
- - hostname [default: robot1]
  - machine [default: commander]
  - pose [default: odom]
  - port [default: /dev/ttyS0]
config/vicon.xml

Messages

Services

srv/Pose2D.srv

Plugins

No plugins found.

Recent questions tagged `pioneer_mrs` at Robotics Stack Exchange

API Docs Browse Code Wiki

pioneer_mrs package from pioneer_mrs repo

pioneer_mrs

ROS Distro
kinetic

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	1.4.0
License	MIT
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/hanzheteng/pioneer_mrs.git
VCS Type	git
VCS Version	master
Last Updated	2020-03-04
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The pioneer_mrs ROS package for Pioneer 3-AT Multi-Robot Systems

Additional Links

Maintainers

Hanzhe Teng

Authors

Hanzhe Teng

README.md

pioneer_mrs

1. Introduction

A ROS package for Pioneer 3-AT Multi-Robot Systems.

This is a flexible experimental platform for multi-robot systems (MRS). Should there be any problem, please feel free to contact maintainer @hanzheteng or open a new issue in this repository.

ROS package	Description (Features)	Platform
pioneer_mrs	Support scientific computing library (numpy, scipy, etc.) for your algorithms Support two kinds of localization methods (odometry, VICON) Support two kinds of robot-level simulators (MobileSim, Gazebo) Visualization is under developing	Pioneer 3-AT Ubuntu 16.04.3 LTS Robot Operating System (kinetic) ROSARIA package (git-commit-aa8d5f7) ARIA lib (2.9.1a-ubuntu16-i386)

2. Usage

2.1 Running on Robots

System Configuration

Before using this package to drive your robots, you may configure your platform following the steps:

All machines (5 robots + 1 laptop) are installed Ubuntu 16.04 and ROS Kinetic
All robots (onboard computer, actually) are installed and catkin_make-ed ARIA lib and ROSARIA package
All machines need a static IP address and are able to automatically connect to your local WiFi
Write the IP and hostname information into /etc/hosts file on all the machines
Your commander (laptop) is able to SSH to all robots via public key (instead of password)
Onboard computers are able to get access to the microcontroller via serial post (add user to dialout group)

For detailed information regarding how to set up the whole system, please refer to the wiki page.

Moreover, there are two suggestions which is not necessary for this system but may be useful for your development.

You may install a teamviewer software on your laptop and robots so that you can remote login into your onboard computers.
For IDE, I recommend RoboWare Studio, which is especially designed for ROS developers. Another alternative is KDevelop, which is a cross-platform IDE.

Package Dependencies

Before git clone this repository, you need to install ARIA lib and git clone ROSARIA package first. After that, catkin_make your ROSARIA package with ARIA library. Then, you can clone this repository by git clone https://github.com/hanzheteng/pioneer_mrs.git and catkin_make this package in your workspace.

Notice:

You must catkin_make the ROSARIA package first before you clone and make this package, otherwise it may report errors.
Sometimes you need to catkin_make pioneer_mrs_generate_messages first before catkin_make this package, because the compiler may not be able to find the header file of our messages.

Optional package:

If you want to use VICON motion capture system, you also need to git clone and catkin_make vicon_bridge package.

Sample Usage

Basically there are several steps:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch
launch nodes on commander roslaunch pioneer_mrs commander.launch

If using Vicon:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=vicon
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.2 Running on MobileSim Simulator

You also need ROSARIA package to connect to MobileSim simulator. Moreover, you need to install MobileSim on your laptop.

Basically there are several steps:

run a MobileSim simulator and spawn five robots roslaunch pioneer_mrs mobilesim.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch machine:=mobilesim
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.3 Running on Gazebo Simulator

You do not need ROSARIA package here, since Gazebo will take charge of publishing odom information and dealing with cmd_vel commands. Gazebo is installed by default along with ROS if choosing desktop-full install. Moreover, for simulations of Pioneer 3-AT robots, you also need models and URDF files supplied by Mobile Robots Inc. by git clone amr-ros-config meta-package.

Basically there are several steps:

run a Gazebo simulator and spawn five robots roslaunch pioneer_mrs gazebo.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=gazebo machine:=gazebo
launch nodes on commander roslaunch pioneer_mrs commander.launch

Notice: On real robots, movement commands only execute for 600ms because of WatchDog timeout mechanism; but in gazebo simulator, robots will keep moving towards the last direction. You may press space bar (stop command) to stop it.

2.4 Single Robot Recoverary

Optional launch file (e.g. robot1):

launch one robot roslaunch pioneer_mrs single-robot.launch hostname:=robot1
launch one robot with Vicon roslaunch pioneer_mrs single-robot.launch hostname:=robot1 pose:=vicon
launch one robot on MobileSim simulator

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	catkin
	gazebo_ros
	xacro
	message_runtime
	roscpp
	rospy
	std_msgs
	nav_msgs
	tf
	geometry_msgs
	message_generation
	dynamic_reconfigure
	actionlib
	actionlib_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/commander.launch
launch/gazebo.launch
- - world_name [default: worlds/empty.world]
  - urdf [default: $(find pioneer_mrs)/config/pioneer3at.urdf]
  - r1 [default: -model robot1 -robot_namespace robot1/gazebo -x 0 -y 2]
  - r2 [default: -model robot2 -robot_namespace robot2/gazebo -x 0 -y 1]
  - r3 [default: -model robot3 -robot_namespace robot3/gazebo -x 0 -y 0]
  - r4 [default: -model robot4 -robot_namespace robot4/gazebo -x 0 -y -1]
  - r5 [default: -model robot5 -robot_namespace robot5/gazebo -x 0 -y -2]
launch/mobilesim.launch
launch/multi-robot.launch
- - hostname
  - machine [default: remote]
  - pose [default: odom]
  - port
launch/single-robot.launch
- - hostname [default: robot1]
  - machine [default: remote]
  - pose [default: odom]
  - port
config/robot.xml
- - hostname [default: robot1]
  - machine [default: commander]
  - pose [default: odom]
  - port [default: /dev/ttyS0]
config/vicon.xml

Messages

Services

srv/Pose2D.srv

Plugins

No plugins found.

Recent questions tagged `pioneer_mrs` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro melodic showing kinetic. Known supported distros are highlighted in the buttons above.

pioneer_mrs package from pioneer_mrs repo

pioneer_mrs

ROS Distro
kinetic

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	1.4.0
License	MIT
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/hanzheteng/pioneer_mrs.git
VCS Type	git
VCS Version	master
Last Updated	2020-03-04
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The pioneer_mrs ROS package for Pioneer 3-AT Multi-Robot Systems

Additional Links

Maintainers

Hanzhe Teng

Authors

Hanzhe Teng

README.md

pioneer_mrs

1. Introduction

A ROS package for Pioneer 3-AT Multi-Robot Systems.

This is a flexible experimental platform for multi-robot systems (MRS). Should there be any problem, please feel free to contact maintainer @hanzheteng or open a new issue in this repository.

ROS package	Description (Features)	Platform
pioneer_mrs	Support scientific computing library (numpy, scipy, etc.) for your algorithms Support two kinds of localization methods (odometry, VICON) Support two kinds of robot-level simulators (MobileSim, Gazebo) Visualization is under developing	Pioneer 3-AT Ubuntu 16.04.3 LTS Robot Operating System (kinetic) ROSARIA package (git-commit-aa8d5f7) ARIA lib (2.9.1a-ubuntu16-i386)

2. Usage

2.1 Running on Robots

System Configuration

Before using this package to drive your robots, you may configure your platform following the steps:

All machines (5 robots + 1 laptop) are installed Ubuntu 16.04 and ROS Kinetic
All robots (onboard computer, actually) are installed and catkin_make-ed ARIA lib and ROSARIA package
All machines need a static IP address and are able to automatically connect to your local WiFi
Write the IP and hostname information into /etc/hosts file on all the machines
Your commander (laptop) is able to SSH to all robots via public key (instead of password)
Onboard computers are able to get access to the microcontroller via serial post (add user to dialout group)

For detailed information regarding how to set up the whole system, please refer to the wiki page.

Moreover, there are two suggestions which is not necessary for this system but may be useful for your development.

You may install a teamviewer software on your laptop and robots so that you can remote login into your onboard computers.
For IDE, I recommend RoboWare Studio, which is especially designed for ROS developers. Another alternative is KDevelop, which is a cross-platform IDE.

Package Dependencies

Before git clone this repository, you need to install ARIA lib and git clone ROSARIA package first. After that, catkin_make your ROSARIA package with ARIA library. Then, you can clone this repository by git clone https://github.com/hanzheteng/pioneer_mrs.git and catkin_make this package in your workspace.

Notice:

You must catkin_make the ROSARIA package first before you clone and make this package, otherwise it may report errors.
Sometimes you need to catkin_make pioneer_mrs_generate_messages first before catkin_make this package, because the compiler may not be able to find the header file of our messages.

Optional package:

If you want to use VICON motion capture system, you also need to git clone and catkin_make vicon_bridge package.

Sample Usage

Basically there are several steps:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch
launch nodes on commander roslaunch pioneer_mrs commander.launch

If using Vicon:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=vicon
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.2 Running on MobileSim Simulator

You also need ROSARIA package to connect to MobileSim simulator. Moreover, you need to install MobileSim on your laptop.

Basically there are several steps:

run a MobileSim simulator and spawn five robots roslaunch pioneer_mrs mobilesim.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch machine:=mobilesim
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.3 Running on Gazebo Simulator

You do not need ROSARIA package here, since Gazebo will take charge of publishing odom information and dealing with cmd_vel commands. Gazebo is installed by default along with ROS if choosing desktop-full install. Moreover, for simulations of Pioneer 3-AT robots, you also need models and URDF files supplied by Mobile Robots Inc. by git clone amr-ros-config meta-package.

Basically there are several steps:

run a Gazebo simulator and spawn five robots roslaunch pioneer_mrs gazebo.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=gazebo machine:=gazebo
launch nodes on commander roslaunch pioneer_mrs commander.launch

Notice: On real robots, movement commands only execute for 600ms because of WatchDog timeout mechanism; but in gazebo simulator, robots will keep moving towards the last direction. You may press space bar (stop command) to stop it.

2.4 Single Robot Recoverary

Optional launch file (e.g. robot1):

launch one robot roslaunch pioneer_mrs single-robot.launch hostname:=robot1
launch one robot with Vicon roslaunch pioneer_mrs single-robot.launch hostname:=robot1 pose:=vicon
launch one robot on MobileSim simulator

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	catkin
	gazebo_ros
	xacro
	message_runtime
	roscpp
	rospy
	std_msgs
	nav_msgs
	tf
	geometry_msgs
	message_generation
	dynamic_reconfigure
	actionlib
	actionlib_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/commander.launch
launch/gazebo.launch
- - world_name [default: worlds/empty.world]
  - urdf [default: $(find pioneer_mrs)/config/pioneer3at.urdf]
  - r1 [default: -model robot1 -robot_namespace robot1/gazebo -x 0 -y 2]
  - r2 [default: -model robot2 -robot_namespace robot2/gazebo -x 0 -y 1]
  - r3 [default: -model robot3 -robot_namespace robot3/gazebo -x 0 -y 0]
  - r4 [default: -model robot4 -robot_namespace robot4/gazebo -x 0 -y -1]
  - r5 [default: -model robot5 -robot_namespace robot5/gazebo -x 0 -y -2]
launch/mobilesim.launch
launch/multi-robot.launch
- - hostname
  - machine [default: remote]
  - pose [default: odom]
  - port
launch/single-robot.launch
- - hostname [default: robot1]
  - machine [default: remote]
  - pose [default: odom]
  - port
config/robot.xml
- - hostname [default: robot1]
  - machine [default: commander]
  - pose [default: odom]
  - port [default: /dev/ttyS0]
config/vicon.xml

Messages

Services

srv/Pose2D.srv

Plugins

No plugins found.

Recent questions tagged `pioneer_mrs` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro noetic showing kinetic. Known supported distros are highlighted in the buttons above.

pioneer_mrs package from pioneer_mrs repo

pioneer_mrs

ROS Distro
kinetic

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	1.4.0
License	MIT
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/hanzheteng/pioneer_mrs.git
VCS Type	git
VCS Version	master
Last Updated	2020-03-04
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The pioneer_mrs ROS package for Pioneer 3-AT Multi-Robot Systems

Additional Links

Maintainers

Hanzhe Teng

Authors

Hanzhe Teng

README.md

pioneer_mrs

1. Introduction

A ROS package for Pioneer 3-AT Multi-Robot Systems.

This is a flexible experimental platform for multi-robot systems (MRS). Should there be any problem, please feel free to contact maintainer @hanzheteng or open a new issue in this repository.

ROS package	Description (Features)	Platform
pioneer_mrs	Support scientific computing library (numpy, scipy, etc.) for your algorithms Support two kinds of localization methods (odometry, VICON) Support two kinds of robot-level simulators (MobileSim, Gazebo) Visualization is under developing	Pioneer 3-AT Ubuntu 16.04.3 LTS Robot Operating System (kinetic) ROSARIA package (git-commit-aa8d5f7) ARIA lib (2.9.1a-ubuntu16-i386)

2. Usage

2.1 Running on Robots

System Configuration

Before using this package to drive your robots, you may configure your platform following the steps:

All machines (5 robots + 1 laptop) are installed Ubuntu 16.04 and ROS Kinetic
All robots (onboard computer, actually) are installed and catkin_make-ed ARIA lib and ROSARIA package
All machines need a static IP address and are able to automatically connect to your local WiFi
Write the IP and hostname information into /etc/hosts file on all the machines
Your commander (laptop) is able to SSH to all robots via public key (instead of password)
Onboard computers are able to get access to the microcontroller via serial post (add user to dialout group)

For detailed information regarding how to set up the whole system, please refer to the wiki page.

Moreover, there are two suggestions which is not necessary for this system but may be useful for your development.

You may install a teamviewer software on your laptop and robots so that you can remote login into your onboard computers.
For IDE, I recommend RoboWare Studio, which is especially designed for ROS developers. Another alternative is KDevelop, which is a cross-platform IDE.

Package Dependencies

Before git clone this repository, you need to install ARIA lib and git clone ROSARIA package first. After that, catkin_make your ROSARIA package with ARIA library. Then, you can clone this repository by git clone https://github.com/hanzheteng/pioneer_mrs.git and catkin_make this package in your workspace.

Notice:

You must catkin_make the ROSARIA package first before you clone and make this package, otherwise it may report errors.
Sometimes you need to catkin_make pioneer_mrs_generate_messages first before catkin_make this package, because the compiler may not be able to find the header file of our messages.

Optional package:

If you want to use VICON motion capture system, you also need to git clone and catkin_make vicon_bridge package.

Sample Usage

Basically there are several steps:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch
launch nodes on commander roslaunch pioneer_mrs commander.launch

If using Vicon:

launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=vicon
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.2 Running on MobileSim Simulator

You also need ROSARIA package to connect to MobileSim simulator. Moreover, you need to install MobileSim on your laptop.

Basically there are several steps:

run a MobileSim simulator and spawn five robots roslaunch pioneer_mrs mobilesim.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch machine:=mobilesim
launch nodes on commander roslaunch pioneer_mrs commander.launch

2.3 Running on Gazebo Simulator

You do not need ROSARIA package here, since Gazebo will take charge of publishing odom information and dealing with cmd_vel commands. Gazebo is installed by default along with ROS if choosing desktop-full install. Moreover, for simulations of Pioneer 3-AT robots, you also need models and URDF files supplied by Mobile Robots Inc. by git clone amr-ros-config meta-package.

Basically there are several steps:

run a Gazebo simulator and spawn five robots roslaunch pioneer_mrs gazebo.launch
launch nodes on all five robots roslaunch pioneer_mrs multi-robot.launch pose:=gazebo machine:=gazebo
launch nodes on commander roslaunch pioneer_mrs commander.launch

Notice: On real robots, movement commands only execute for 600ms because of WatchDog timeout mechanism; but in gazebo simulator, robots will keep moving towards the last direction. You may press space bar (stop command) to stop it.

2.4 Single Robot Recoverary

Optional launch file (e.g. robot1):

launch one robot roslaunch pioneer_mrs single-robot.launch hostname:=robot1
launch one robot with Vicon roslaunch pioneer_mrs single-robot.launch hostname:=robot1 pose:=vicon
launch one robot on MobileSim simulator

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	catkin
	gazebo_ros
	xacro
	message_runtime
	roscpp
	rospy
	std_msgs
	nav_msgs
	tf
	geometry_msgs
	message_generation
	dynamic_reconfigure
	actionlib
	actionlib_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/commander.launch
launch/gazebo.launch
- - world_name [default: worlds/empty.world]
  - urdf [default: $(find pioneer_mrs)/config/pioneer3at.urdf]
  - r1 [default: -model robot1 -robot_namespace robot1/gazebo -x 0 -y 2]
  - r2 [default: -model robot2 -robot_namespace robot2/gazebo -x 0 -y 1]
  - r3 [default: -model robot3 -robot_namespace robot3/gazebo -x 0 -y 0]
  - r4 [default: -model robot4 -robot_namespace robot4/gazebo -x 0 -y -1]
  - r5 [default: -model robot5 -robot_namespace robot5/gazebo -x 0 -y -2]
launch/mobilesim.launch
launch/multi-robot.launch
- - hostname
  - machine [default: remote]
  - pose [default: odom]
  - port
launch/single-robot.launch
- - hostname [default: robot1]
  - machine [default: remote]
  - pose [default: odom]
  - port
config/robot.xml
- - hostname [default: robot1]
  - machine [default: commander]
  - pose [default: odom]
  - port [default: /dev/ttyS0]
config/vicon.xml

Messages

Services

srv/Pose2D.srv

Plugins

No plugins found.

Recent questions tagged `pioneer_mrs` at Robotics Stack Exchange

API Docs Browse Code Wiki

pioneer_mrs package from pioneer_mrs repo

ROS Distrokinetic

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

pioneer_mrs

1. Introduction

2. Usage

2.1 Running on Robots

System Configuration

Package Dependencies

Sample Usage

2.2 Running on MobileSim Simulator

2.3 Running on Gazebo Simulator

2.4 Single Robot Recoverary

Wiki Tutorials

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged pioneer_mrs at Robotics Stack Exchange

pioneer_mrs package from pioneer_mrs repo

ROS Distrokinetic

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

pioneer_mrs

1. Introduction

2. Usage

2.1 Running on Robots

System Configuration

Package Dependencies

Sample Usage

2.2 Running on MobileSim Simulator

2.3 Running on Gazebo Simulator

2.4 Single Robot Recoverary

Wiki Tutorials

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged pioneer_mrs at Robotics Stack Exchange

pioneer_mrs package from pioneer_mrs repo

ROS Distrokinetic

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

pioneer_mrs

1. Introduction

2. Usage

2.1 Running on Robots

System Configuration

Package Dependencies

Sample Usage

2.2 Running on MobileSim Simulator

2.3 Running on Gazebo Simulator

2.4 Single Robot Recoverary

Wiki Tutorials

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

ROS Distro
kinetic

Recent questions tagged `pioneer_mrs` at Robotics Stack Exchange

ROS Distro
kinetic

Recent questions tagged `pioneer_mrs` at Robotics Stack Exchange

ROS Distro
kinetic

Recent questions tagged `pioneer_mrs` at Robotics Stack Exchange

ROS Distro
kinetic

Recent questions tagged `pioneer_mrs` at Robotics Stack Exchange

ROS Distro
kinetic

Recent questions tagged `pioneer_mrs` at Robotics Stack Exchange

ROS Distro
kinetic