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Fei Liu -Control Pioneer 3 Robots under ROS- liufei299@yahoo.com
2
Contents
Introduction.....................................................................................................................................3
PART 1: Previous Preparation ......................................................................................................4
Step 1: Install ROS..................................................................................................................4
Step 2: Install ROSARIA .......................................................................................................4
PART 2: Connect robot via wireless network...............................................................................6
Step 1: Configuration..............................................................................................................6
Step 2: Modify the host file.....................................................................................................6
Step 3: Connect the robot .......................................................................................................7
PART 3: Control the robot.............................................................................................................8
Step 1: Activate the robot .......................................................................................................8
Step 2: Make the robot run ....................................................................................................9
PART 4: Simulation environment................................................................................................11
A. Simulation in MobileSim.................................................................................................11
B. Simulation in Gazebo.......................................................................................................11
PART 5: Experiments...................................................................................................................12
A. A simple demo...................................................................................................................13
B. Wandering.........................................................................................................................15
C. Reading sonar data ..........................................................................................................17
D. Following a man...............................................................................................................20
E. Reading laser data............................................................................................................24
F. Control robot via android device.....................................................................................25
G. Control multiple robots....................................................................................................26
Appendix........................................................................................................................................28
A. Information about the 5 pioneer robots......................................................................28
B. Alias in .bashrc..............................................................................................................28
C. ROS cheat sheet.............................................................................................................28
Fei Liu -Control Pioneer 3 Robots under ROS- liufei299@yahoo.com
3
Introduction
This document shows how to control pioneer 3 robots
(http://www.mobilerobots.com/ResearchRobots/P3AT.aspx) under ROS (http://wiki.ros.org). All
the work described in this document is done in MARHES Lab, Department of Electrical and
Computer Engineering, University of New Mexico from September 2013 to August 2014. If you
have any question about it or find any error please contace me via liufei299@yahoo.com.
Fei Liu -Control Pioneer 3 Robots under ROS- liufei299@yahoo.com
4
PART 1: Previous Preparation
This part includes installing ROS and ROSARIA on local computer and the on-board
computer on the robot. The operating systems of both computers are Ubuntu 12.04
LTS.
Step 1: Install ROS
Follow the steps on http://wiki.ros.org/hydro/Installation/Ubuntu to install ROS (version:
Groovy/Hydro) on your local computer and the on-board computer. And you are
strongly recommended to go through the whole ROS Tutorials
(http://wiki.ros.org/ROS/Tutorials) in order to learn how the ROS works. Also please refer to
Appendix C to look into the ros cheat sheet.
*Notes:
1) It’s suggested to install the same version of ROS on both computers.
2) The major ROS versions released so far are
http://wiki.ros.org/Distributions
1> 22 July 2014 – Indigo lgloo
2> 4 September 2013 – Hydro Medusa
3> 31 December 2012 – Groovy Galapagos
4> 23 April 2012 – Fuerte
5> 30 Aug 2011 – Electric Emys
6> 2 March 2011 – Diamondback
7> 3 August 2010 – C Turtle
8> 1 March 2010 – Box Turtle
9> 22 January 2010 – ROS 1.0
However, indigo only supports Saucy (ubuntu 13.10) and Trusty (ubuntu 14.04) for debian
packages (see http://wiki.ros.org/indigo/Installation/Ubuntu). For Ubuntu 12.04, Hydro or
Groovy are two suggestions for you.
3) To get the version of ROS that is installed on your computer, run
$ rosversion ros
Or
$ rosversion roslang
Step 2: Install ROSARIA
1) Introduction of ROSARIA
ROSARIA (http://wiki.ros.org/ROSARIA) provides a ROS interface for most Adept
MobileRobots, MobileRobots Inc., and ActivMedia mobile robot bases including
Pioneer 2, Pioneer 3 etc. that are supported by Adept MobileRobot's open source
Fei Liu -Control Pioneer 3 Robots under ROS- liufei299@yahoo.com
5
ARIA library( http://robots.mobilerobots.com/wiki/ARIA) (ARIA: MobileRobots'
Advanced Robot Interface for Applications).
Information from the robot base, and velocity and acceleration control, is
implemented via a RosAria node, which publishes topics providing data recieved
from the robot's embedded controller by ARIA , and sets desired velocity, acceleration
and other commands in ARIA when new commands are received from command
topics.
2) Steps for installing ROSARIA
Follow the link below to install ROSARIA:
http://wiki.ros.org/ROSARIA/Tutorials/How%20to%20use%20ROSARIA
Collection of all the commands
1) Create a workspace. If a workspace exists already, skip to step 2).
$ . /opt/ros/hydro/setup.bash
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace
$ cd ~/catkin_ws
$ catkin_make
$ cd ~/catkin_ws/src
2) install rosaria package:
$ git clone https://github.com/amor-ros-pkg/rosaria.git
$ source ~/catkin_ws/devel/setup.bash
$ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
$ source ~/.bashrc
%rosdep may install any additional ROS packages not currently installed
$ rosdep update
$ rosdep install rosaria
$ cd ~/catkin_ws/
$ catkin_make
*Notes:
2) After installation, the Aria library will be found in /usr/local/.
2) After installation, three important files should be found in /catkin_ws/src/rosaria:
$ cd ~/catkin_ws/src/rosaria/
$ ls
CMakeLists.txt
RosAria.cpp
package.xml
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