demo_pioneer

A set of demos using a Pioneer robot and based on ViSP. This package is documented on ROS wiki.

Installation

Get the source

$ cd ~/catkin_ws/src

Get rosaria stack that allows to control a real Pioneer robot

$ git clone https://github.com/amor-ros-pkg/rosaria.git (master branch)

Get demo_pioneer stack that does the visual servoing

$ git clone https://github.com/lagadic/demo_pioneer.git (master branch)

Update the dependencies to control the real Pionner

$ source ~/catkin_ws/devel/setup.bash
$ rosdep install rosaria
$ rosdep install demo_pioneer

Build the catkin packages from source

$ cd ~/catkin_ws
$ catkin_make -DCMAKE_BUILD_TYPE=Release --pkg rosaria
$ catkin_make -DCMAKE_BUILD_TYPE=Release --pkg demo_pioneer

Usage

Test pioneer tele operation from gamepad

Check if you have the read/write rights in /dev/ttyUSB0. If not

$ sudo chmod a+rw /dev/ttyUSB0

or even better edit ‘/etc/udev/rules.d/51-local.rules’ and add the following line:

$ KERNEL=="ttyUSB*", MODE="0666"

First check if the Pioneer can be tele operated

$ source ~/catkin_ws/devel/setup.bash
$ roslaunch demo_pioneer pioneer-teleop.launch

Start the visual servoing demo on the Pioneer

Then start the demo with a real Pioneer robot using:

$ source ~/catkin_ws/devel/setup.bash
$ roslaunch demo_pioneer demo-visual-servo-pioneer.launch

Usage only in the lab where the Pioneer is equipped with a Biclops PT head

Prerequisities

Get visp_ros stack that does the control of the Biclops head using ViSP vpRobotBiclops class, a wrapper over Biclops low level controller that is not open source

$ cd ~/catkin_ws/src
$ git clone https://github.com/lagadic/visp_ros.git (master branch)
$ cd ~/catkin_ws
$ catkin_make -DCMAKE_BUILD_TYPE=Release --pkg visp_ros

Start the visual servoing demo on the Pioneer equipped with a Biclops PT head

Then start the demo with a real Pioneer robot using:

$ source ~/catkin_ws/devel/setup.bash
$ roslaunch visp_ros biclops.launch
$ roslaunch demo_pioneer demo-visual-servo-pioneer-pan.launch