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Package Summary

pioneer_bringup provides roslaunch scripts for starting the core functionnalities of Adept MobileRobots Pioneer and Pioneer-compatible robots (Including Pioneer 2, Pioneer 3, Pioneer LX, AmigoBot, PeopleBot, PatrolBot, PowerBot, Seekur and Seekur Jr.)

Package Summary

pioneer_bringup provides roslaunch scripts for starting the core functionnalities of Adept MobileRobots Pioneer and Pioneer-compatible robots (Including Pioneer 2, Pioneer 3, Pioneer LX, AmigoBot, PeopleBot, PatrolBot, PowerBot, Seekur and Seekur Jr.)

Package Summary

pioneer_bringup provides roslaunch scripts for starting the core functionnalities of Adept MobileRobots Pioneer and Pioneer-compatible robots (Including Pioneer 2, Pioneer 3, Pioneer LX, AmigoBot, PeopleBot, PatrolBot, PowerBot, Seekur and Seekur Jr.)

Pionner_bringup

A ROS package providing roslaunch scripts 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.)

Use GitHub to report bugs or submit feature requests. [View active issues]

Installation

Dependencies

RosAria

RosAria is used to communicate with Pioneer robots hardware:

cd ~/catkin_ws/src
git clone https://github.com/amor-ros-pkg/rosaria.git
source ~/catkin_ws/devel/setup.bash
rosdep install rosaria

Please refer to the official RosAria documentation for more information.

LMS1XX or LMS200 [optional]

Allow to communicate with Sick LMS1xx/LMS200 Laser Range Finders.

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sudo apt-get install ros-indigo-lms1xx

sudo apt-get install ros-jade-lms1xx

sudo apt-get install ros-kinetic-lms1xx

Usb_cam [optional]

Allows to communicate with usb cameras and webcams

Skip this section if you don't want to use usb cameras, or if you want to invoke it yourself using another package

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sudo apt-get install ros-indigo-usb-cam

sudo apt-get install ros-jade-usb-cam

sudo apt-get install ros-kinetic-usb-cam

You may get this error message ros-kinetic-usb-cam package doesn't exist.

In that case, simply install usb_cam package from source:

cd ~/catkin_ws/src
git clone https://github.com/bosch-ros-pkg/usb_cam.git
cd ..
catkin_make

Get the source and build the workspace

cd ~/catkin_ws/src
git clone https://github.com/amineHorseman/pioneer_bringup.git
cd ..
catkin_make

Usage

There are actually 3 bringup modes:

Minimal mode

Starts up the robot with a single master ROS environment and ROSARIA:

roslaunch pioneer_bringup minimal.launch

Camera mode

Can do everything minimal mode does, but also launches the usb cam node

roslaunch pioneer_bringup camera.launch

Laser mode

Can do everything minimal mode does, but also launches the Sick LMS1xx laser node:

roslaunch pioneer_bringup laser_lms1xx.launch

If you want to bringup both the laser and camera together use the following command:

roslaunch pionner_bringup laser_lms1xx.launch _camera:=1

Known issues

Use USB port in RosAria instead of Serial

All the bringup modes call first RosAria package which is responsible to link ROS with the robot hardware.

Generally, the pioneer robots come with an onboard computer which communicate with the hardware throught Serial port, that's why, in the minimal.launch file we specify the port value as "/dev/ttyS0" (default value).

Sometimes however, RosAria need to communicate throught USB port, and then, you need to replace the followin line in the minimal.launch file:

<param name="port" value="/dev/ttyS0" />

with this one:

<param name="port" value="/dev/ttyUSB0" />

For more information about this modification, please refer to RosAria documentation:

'ros-kinetic-usb-cam package doesn't exist'

At the moment of writing this tutorial, usb_cam cannot be located by 'sudo apt-get install'

Instead try to install it from source:

cd ~/catkin_ws/src
git clone https://github.com/bosch-ros-pkg/usb_cam.git
cd ..
catkin_make

2019-07-20 13:00