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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