https://github.com/lagadic/demo_pioneer
A set of demos using a Pioneer robot and based on ViSP
https://github.com/lagadic/demo_pioneer
Last synced: over 1 year ago
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A set of demos using a Pioneer robot and based on ViSP
- Host: GitHub
- URL: https://github.com/lagadic/demo_pioneer
- Owner: lagadic
- Created: 2014-03-27T09:18:20.000Z (about 12 years ago)
- Default Branch: master
- Last Pushed: 2019-06-04T10:22:26.000Z (almost 7 years ago)
- Last Synced: 2024-03-26T05:44:52.150Z (about 2 years ago)
- Language: C++
- Size: 15.6 KB
- Stars: 14
- Watchers: 7
- Forks: 7
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
demo_pioneer
============
A set of demos using a Pioneer robot and based on ViSP. This package is documented on [ROS wiki] [demo_pioneer-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
[demo_pioneer-wiki]: http://wiki.ros.org/demo_pioneer