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
评论2