ROS Index
Repository Summary
| Checkout URI | https://github.com/amineHorseman/pioneer_bringup.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-10-08 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| pioneer_bringup | 2.0.0 |
README
Pionner_bringup
A ROS package providing roslaunch functionalities for starting the Adept MobileRobots Pioneer and Pioneer-compatible robots (Including Pioneer 2, Pioneer 3, Pioneer LX, AmigoBot, PeopleBot, PatrolBot, PowerBot, Seekur and Seekur Jr.)
Compatible with RosAria and P2OS hardware controllers.
Installation
Depending on you needs, you may need to install some of these dependencies:
- ROSARIA
- P2OS
- Urg_node: for using Hokuyo lidars
- LMS1XX: for using Sick LMS100 lidar
- Sicktoolbox_wrapper: for using Sick LMS2xx lidar
- Sick_scan: for using other Sick lidars (see list bellow)
- Usbcam: for using usb cameras and webcams
- Freenect: for using Kinect
- Pionner_dashboard: for GUI dashboard window
Usage
For starting the robot using the default parameters:
$ roslaunch pioneer_bringup pioneer_bringup.launch
You can activate more features by using these arguments:
| Argument | Possible values | Default | Description |
|---|---|---|---|
| controller | rosaria, p2os | rosaria | Hardware driver controller |
| controller_port | /dev/ttySx or /dev/ttyUSBx | /dev/ttyS0 | Serial port to communicate with the controller |
| sonar | true, false | false | Activate sonars |
| laser | hokuyo, lms_1xx, lms_2xx, lms_1xxx, lms_4xxx, lms_5xx, mrs_1xxx, mrs_6xxx, rms_3xx, tim_5xx, tim_7xx, tim_7xxS | false | Laser reference code or ‘false’ if no laser |
| usbcam | true, false | false | launch usbcam node |
| kinect | true, false | false | launch kinect nodes |
| dashboard | true, false | false | launch a GUI window in rqt to visualize sensors readings and control motors |
Example:
$ roslaunch pioneer_bringup pioneer_bringup.launch controller:=p2os laser:=lms_5xx usbcam:=true
More controls for Laser node:
You can use the following arguments to lidar parameters:
| Argument | Possible values | Default | Description |
|---|---|---|---|
| laser_hostname | IP Address | 192.168.0.1 | Laser IP address or hostname (if applicable) |
| laser_serial_port | /dev/ttySx or /dev/ttyUSBx | /dev/ttyUSB0 | Laser Port (if applicable) |
| laser_baselink_distance | x y z roll pitch yaw | 0.13 0 0.39 0 0 0 | Distance between baselink and lidar in meters (for setting tf broadcast) |
Example:
$ roslaunch pioneer_bringup pioneer_bringup.launch laser:=lms_1xx laser_hostname:=192.168.0.4 laser_baselink_distance:='0.20 0 0.3 0 0 0'
More controls for Camera node:
You can use the following arguments to customize the camera parameters:
| Argument | Values | Default | Description |
|---|---|---|---|
| camera_port | /dev/videox (x = device number) | /dev/video0 | USB Camera port |
| camera_display | true, false | true | Display video feed on the screen (or stop it) |
Other parameters: You can customize more parameters in the config/camera.yaml file, such as: image_width, image_height, pixel_format, camera_frame_id and io_method.
Example:
$ roslaunch pioneer_bringup pioneer_bringup.launch usbcam:=true camera_display:=false camera_port:=/dev/video2
More controls for Kinect node:
You can use the following arguments to customize the kinect parameters:
| Argument | Values | Default | Description |
|---|---|---|---|
| kinect_data_skip | 0 | Number of frames to skip from kinect data | |
| kinect_id | # |
#1 | kinect device number |
Example:
$ roslaunch pioneer_bringup pioneer_bringup.launch kinect:=true kinect_data_skip:=5
Known issues
Cannot open /dev/ttyUSB0: Permission denied
This is a frequent issue when using an USB-Serial adapter to connect to the robot hardware or lidar.
Basically you just need to give the correct autorizations:
sudo chmod 777 -R /dev/ttyUSB0
Other issues
Please report any problem in the issues section
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/amineHorseman/pioneer_bringup.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-10-08 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| pioneer_bringup | 2.0.0 |
README
Pionner_bringup
A ROS package providing roslaunch functionalities for starting the Adept MobileRobots Pioneer and Pioneer-compatible robots (Including Pioneer 2, Pioneer 3, Pioneer LX, AmigoBot, PeopleBot, PatrolBot, PowerBot, Seekur and Seekur Jr.)
Compatible with RosAria and P2OS hardware controllers.
Installation
Depending on you needs, you may need to install some of these dependencies:
- ROSARIA
- P2OS
- Urg_node: for using Hokuyo lidars
- LMS1XX: for using Sick LMS100 lidar
- Sicktoolbox_wrapper: for using Sick LMS2xx lidar
- Sick_scan: for using other Sick lidars (see list bellow)
- Usbcam: for using usb cameras and webcams
- Freenect: for using Kinect
- Pionner_dashboard: for GUI dashboard window
Usage
For starting the robot using the default parameters:
$ roslaunch pioneer_bringup pioneer_bringup.launch
You can activate more features by using these arguments:
| Argument | Possible values | Default | Description |
|---|---|---|---|
| controller | rosaria, p2os | rosaria | Hardware driver controller |
| controller_port | /dev/ttySx or /dev/ttyUSBx | /dev/ttyS0 | Serial port to communicate with the controller |
| sonar | true, false | false | Activate sonars |
| laser | hokuyo, lms_1xx, lms_2xx, lms_1xxx, lms_4xxx, lms_5xx, mrs_1xxx, mrs_6xxx, rms_3xx, tim_5xx, tim_7xx, tim_7xxS | false | Laser reference code or ‘false’ if no laser |
| usbcam | true, false | false | launch usbcam node |
| kinect | true, false | false | launch kinect nodes |
| dashboard | true, false | false | launch a GUI window in rqt to visualize sensors readings and control motors |
Example:
$ roslaunch pioneer_bringup pioneer_bringup.launch controller:=p2os laser:=lms_5xx usbcam:=true
More controls for Laser node:
You can use the following arguments to lidar parameters:
| Argument | Possible values | Default | Description |
|---|---|---|---|
| laser_hostname | IP Address | 192.168.0.1 | Laser IP address or hostname (if applicable) |
| laser_serial_port | /dev/ttySx or /dev/ttyUSBx | /dev/ttyUSB0 | Laser Port (if applicable) |
| laser_baselink_distance | x y z roll pitch yaw | 0.13 0 0.39 0 0 0 | Distance between baselink and lidar in meters (for setting tf broadcast) |
Example:
$ roslaunch pioneer_bringup pioneer_bringup.launch laser:=lms_1xx laser_hostname:=192.168.0.4 laser_baselink_distance:='0.20 0 0.3 0 0 0'
More controls for Camera node:
You can use the following arguments to customize the camera parameters:
| Argument | Values | Default | Description |
|---|---|---|---|
| camera_port | /dev/videox (x = device number) | /dev/video0 | USB Camera port |
| camera_display | true, false | true | Display video feed on the screen (or stop it) |
Other parameters: You can customize more parameters in the config/camera.yaml file, such as: image_width, image_height, pixel_format, camera_frame_id and io_method.
Example:
$ roslaunch pioneer_bringup pioneer_bringup.launch usbcam:=true camera_display:=false camera_port:=/dev/video2
More controls for Kinect node:
You can use the following arguments to customize the kinect parameters:
| Argument | Values | Default | Description |
|---|---|---|---|
| kinect_data_skip | 0 | Number of frames to skip from kinect data | |
| kinect_id | # |
#1 | kinect device number |
Example:
$ roslaunch pioneer_bringup pioneer_bringup.launch kinect:=true kinect_data_skip:=5
Known issues
Cannot open /dev/ttyUSB0: Permission denied
This is a frequent issue when using an USB-Serial adapter to connect to the robot hardware or lidar.
Basically you just need to give the correct autorizations:
sudo chmod 777 -R /dev/ttyUSB0
Other issues
Please report any problem in the issues section
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/amineHorseman/pioneer_bringup.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-10-08 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| pioneer_bringup | 2.0.0 |
README
Pionner_bringup
A ROS package providing roslaunch functionalities for starting the Adept MobileRobots Pioneer and Pioneer-compatible robots (Including Pioneer 2, Pioneer 3, Pioneer LX, AmigoBot, PeopleBot, PatrolBot, PowerBot, Seekur and Seekur Jr.)
Compatible with RosAria and P2OS hardware controllers.
Installation
Depending on you needs, you may need to install some of these dependencies:
- ROSARIA
- P2OS
- Urg_node: for using Hokuyo lidars
- LMS1XX: for using Sick LMS100 lidar
- Sicktoolbox_wrapper: for using Sick LMS2xx lidar
- Sick_scan: for using other Sick lidars (see list bellow)
- Usbcam: for using usb cameras and webcams
- Freenect: for using Kinect
- Pionner_dashboard: for GUI dashboard window
Usage
For starting the robot using the default parameters:
$ roslaunch pioneer_bringup pioneer_bringup.launch
You can activate more features by using these arguments:
| Argument | Possible values | Default | Description |
|---|---|---|---|
| controller | rosaria, p2os | rosaria | Hardware driver controller |
| controller_port | /dev/ttySx or /dev/ttyUSBx | /dev/ttyS0 | Serial port to communicate with the controller |
| sonar | true, false | false | Activate sonars |
| laser | hokuyo, lms_1xx, lms_2xx, lms_1xxx, lms_4xxx, lms_5xx, mrs_1xxx, mrs_6xxx, rms_3xx, tim_5xx, tim_7xx, tim_7xxS | false | Laser reference code or ‘false’ if no laser |
| usbcam | true, false | false | launch usbcam node |
| kinect | true, false | false | launch kinect nodes |
| dashboard | true, false | false | launch a GUI window in rqt to visualize sensors readings and control motors |
Example:
$ roslaunch pioneer_bringup pioneer_bringup.launch controller:=p2os laser:=lms_5xx usbcam:=true
More controls for Laser node:
You can use the following arguments to lidar parameters:
| Argument | Possible values | Default | Description |
|---|---|---|---|
| laser_hostname | IP Address | 192.168.0.1 | Laser IP address or hostname (if applicable) |
| laser_serial_port | /dev/ttySx or /dev/ttyUSBx | /dev/ttyUSB0 | Laser Port (if applicable) |
| laser_baselink_distance | x y z roll pitch yaw | 0.13 0 0.39 0 0 0 | Distance between baselink and lidar in meters (for setting tf broadcast) |
Example:
$ roslaunch pioneer_bringup pioneer_bringup.launch laser:=lms_1xx laser_hostname:=192.168.0.4 laser_baselink_distance:='0.20 0 0.3 0 0 0'
More controls for Camera node:
You can use the following arguments to customize the camera parameters:
| Argument | Values | Default | Description |
|---|---|---|---|
| camera_port | /dev/videox (x = device number) | /dev/video0 | USB Camera port |
| camera_display | true, false | true | Display video feed on the screen (or stop it) |
Other parameters: You can customize more parameters in the config/camera.yaml file, such as: image_width, image_height, pixel_format, camera_frame_id and io_method.
Example:
$ roslaunch pioneer_bringup pioneer_bringup.launch usbcam:=true camera_display:=false camera_port:=/dev/video2
More controls for Kinect node:
You can use the following arguments to customize the kinect parameters:
| Argument | Values | Default | Description |
|---|---|---|---|
| kinect_data_skip | 0 | Number of frames to skip from kinect data | |
| kinect_id | # |
#1 | kinect device number |
Example:
$ roslaunch pioneer_bringup pioneer_bringup.launch kinect:=true kinect_data_skip:=5
Known issues
Cannot open /dev/ttyUSB0: Permission denied
This is a frequent issue when using an USB-Serial adapter to connect to the robot hardware or lidar.
Basically you just need to give the correct autorizations:
sudo chmod 777 -R /dev/ttyUSB0
Other issues
Please report any problem in the issues section