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https://github.com/amineHorseman/pioneer_bringup
A ROS package providing roslaunch scripts for starting the Adept MobileRobots Pioneer and Pioneer-compatible robots
https://github.com/amineHorseman/pioneer_bringup
bringup laser pioneer-robots pionner-compatible-robots python ros ros-kinetic rosaria tutorial usb-cameras
Last synced: about 2 months ago
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A ROS package providing roslaunch scripts for starting the Adept MobileRobots Pioneer and Pioneer-compatible robots
- Host: GitHub
- URL: https://github.com/amineHorseman/pioneer_bringup
- Owner: amineHorseman
- License: gpl-3.0
- Created: 2016-05-25T03:17:45.000Z (over 8 years ago)
- Default Branch: master
- Last Pushed: 2019-10-09T09:28:01.000Z (about 5 years ago)
- Last Synced: 2024-07-31T20:32:03.348Z (4 months ago)
- Topics: bringup, laser, pioneer-robots, pionner-compatible-robots, python, ros, ros-kinetic, rosaria, tutorial, usb-cameras
- Language: CMake
- Homepage:
- Size: 33.2 KB
- Stars: 5
- Watchers: 2
- Forks: 3
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
- awesome-algeria - Pionner bringup - compatible robots (Libraries and Frameworks)
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](https://github.com/amineHorseman/pioneer_bringup/issues)