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Manually moving a Pioneer robot using P2OS

asked 2012-05-23 06:52:56 -0500

We have a Pioneer robot (P3DX) and when we send a Twist message with a forward movement to the base (/cmd_vel) but the robot doesn't start moving immediately. But if a rotation movement is sent (just rotation, no forward velocity), it does rotate immediately.

Is this a known behaviour of the P2OS stack? or the robot? or is this some kind of bug?

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More likely some kind of configuration error.

joq gravatar image joq  ( 2012-05-23 08:29:34 -0500 )edit

This is my configuration:

<node pkg="p2os_driver" type="p2os" name="p2os"> <param name="use_sonal" value="false"/> <param name="port" type="string" value="/dev/ttyUSB0"/> <remap from="pose" to="/odom"/> </node>

What configuration could I be missing?

Javier gravatar image Javier  ( 2012-05-23 23:29:43 -0500 )edit

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answered 2012-06-27 05:07:57 -0500

I forgot to put my findings. After a while I realised that the PID parameters where changed. I updated them and now the robot is response to moving commands is much more faster.

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answered 2012-06-25 21:55:25 -0500

you can try to set the pulse parameter in the p2os.cc to 1(original -1).

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Asked: 2012-05-23 06:52:56 -0500

Seen: 740 times

Last updated: Jun 27 '12