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The figure at move_base tells me that I have to provide nodes from sensor transformations, odometry source etc. Since ROSARIA publishes sensor and odometry messages, I assume I only have to implement the sensor transformation node and optionally amcl.

Using a node (with a Broadcaster) is only one of the ways in which you can make the necessary transforms available.

Another way, which may be more convenient, would be to create a URDF (ie: a model of your robot).

It looks like this has already been done for this particular robot (and its variants) and you should be able to just reuse that work. Refer to Adept MobileRobots Pioneer and Pioneer-compatible platforms for a high-level overview of the ROS support for Pioneer robots, with links to packages and additional pages for the various variants.

I haven't used this Pioneer robot myself, but I would be surprised if there isn't already good support for it that you could just reuse.

The figure at move_base tells me that I have to provide nodes from sensor transformations, odometry source etc. Since ROSARIA publishes sensor and odometry messages, I assume I only have to implement the sensor transformation node and optionally amcl.

Using a node (with a Broadcaster) is only one of the ways in which you can make the necessary transforms available.

Another way, which may be more convenient, would be to create a URDF (ie: a model of your robot).

It looks like this has already been done for this particular robot (and its variants) and you should be able to just reuse that work. Refer to Adept MobileRobots Pioneer and Pioneer-compatible platforms for a high-level overview of the ROS support for Pioneer robots, with links to packages and additional pages for the various variants.

I haven't used this Pioneer robot myself, but I would be surprised if there isn't already good support for it that you could just reuse.

PS: something to keep in mind: these robots are quite old, and Adept / MobileRobots stopped their business operations some time ago (see here for an announcement on ros-sig-pioneer). Everything could still be OK wrt ROS and software support for these robots, but be aware of the context and you could encounter some difficulties getting everything to work.